CN1086332C - Device and method for deassembling and assembling combustion turbine - Google Patents

Abstract

The invention provides a device facilitating the disassembling/assembling of the combustor of a gas turbine. A gas turbine disassembling/assembling device for disassembling/ assembling the combustor of a gas turbine is provided with: annular rails at least two or more of which are installed coaxially, with the axis center of the gas turbine, a frame traveling in the peripheral direction of the gas turbine 1 on the annular rails, a hand fitting part traveling in the insertion and drawing direction of the combustor component on the frame, and a hand part fitted to the hand fitting part to grip the combustor component. The hand part is installed at a neary same tilt angle as the fitting tilt angle of the combustor to the gas turbine to connect the hand fitting part and the hand part so as to be oscillation-freely in independent direction by a link mechanism having at least three or more links.

Description

Gas turbine attaching/detaching apparatus and method thereof

The invention relates to the attaching/detaching apparatus and the method thereof of gas turbine burner.

Gas turbine burner is a high-temperature component, the field-strip of must regularly fixing a point.Provide large-scale gas turbine for oneself mostly shown in Figure 54, in the burner 2 that becomes about 10-20 of certain angle of inclination configuration around the axle center of gas turbine 1 with this axle center, promptly so-called multipot type configuration.In recent years, this gas turbine 1 is along with the requirement of high temperatureization and low NOxization, and its burner structure becomes increasingly complex, and its weight is increasing.

Multipot type burner 2 is shown in Fig. 55, and its shell 7 is connected and has formed the said burner external structure on the gas turbine body housing 8, and the end of this burner housing 7 has disposed fuel nozzle 3 by the flange of being installed by base plate 4 25.Pass through lining 5 guided turbines 26 by the burning that this burner nozzle 3 is supplied with gas.In addition, the 6th, the air that compressor 27 is supplied with is through inner core 28 outer circumferential faces and by the spacer shell in its cooling back importing burner 2.

Owing to have said structure, recently, in the large-scale gas turbine 1 there be about 500 kilograms the heaviest parts.In addition, the dismounting of used burner 2 operation also not only must be provided with lifting overhead traveling crane and so on, and relies on manpower to carry out basically.

Rely on manpower to carry out that the very manual operations of weight body has that weight hangs as mentioned above or the danger, particularly gas turbine of extruding under during half side burner dismounting, make operation become more difficult because of using crane, so hope can improve operative weldability.

In the up-to-the-minute gas turbine about the nearly double centner of the weight of spacer shell 6.Because spacer shell 6 is arranged in gas turbine body housing 8 and can not uses crane.So, spacer shell 6 split out or the operation of the gas turbine body housing 8 of packing into, mainly rely on manpower to carry out, operation is difficulty very.

Because the difficulty of above-mentioned dismounting process is big, so the regular fixed point maintenance duration of burner 2 is elongated, corresponding gas turbine also extends dead time.

Because there are the problems referred to above, so how to replace the method for manual work up to now to be considered by people with the mechanization effect, but, also do not develop effective apparatus and method so far owing to burner housing 7 is multipot type and reasons such as complex structure burner 2 itself.

The purpose of this invention is to provide a kind of gas turbine attaching/detaching apparatus that is easy to the above-mentioned gas turbine burner of dismounting.

To achieve these goals, the present invention takes following technological scheme:

A kind of attaching/detaching apparatus of gas turbine burner has:

Gas turbine burner parts clamping manipulator;

The plug movable part that supports above-mentioned mechanism hand and it is moved with respect to the burner central axes; With

Above-mentioned plug movable part remained on the holding member in the housing that constitutes gas turbine outside parts;

Above-mentioned holding member comprises: circular guide rail has a plurality of supporting elements that set along gas turbine shell circumferencial direction; And moving member, support above-mentioned plug movable part, and move at the gas turbine circumferencial direction along above-mentioned supporting element, make above-mentioned mechanism hand move along this circumferencial direction.

Above-mentioned mechanism hand is made of inboard mechanism hand and outside mechanism hand, and wherein inboard mechanism hand is by stretching into the gas turbine enclosure, but the rod member of free bend and the holding element that is provided in above-mentioned Rod end form; Outside mechanism hand is formed by holding element, and this holding element is located at the inboard mechanism hand outside with respect to the central shaft of rod member.

Above-mentioned inboard mechanism hand has: a gripper; And has rotating inboard manipulator joint at above-mentioned inboard mechanism hand root; Drive stationary axle, drive above-mentioned inboard mechanical paw, and when live axle moves to a side of using mechanism hand, fixing above-mentioned inboard manipulator joint; With the inboard mechanism hand extension means that stretches and be connected described inboard manipulator joint.

The pawl of described inboard mechanism hand has a rotating auxiliary roller that is made of elastomer.

Described outside mechanism hand has mechanical paw, and it is provided with a drive unit, and this drive unit has the outside robot drives parts of a drive output with respect to mechanism hand central shaft moving linearly; And being provided with that an end and this outside manipulator driving device output terminal are rotatable to link to each other, the other end and mechanical paw end turn the outside mechanical paw drive link that links to each other.

The pawl end of the paw that above-mentioned outside mechanism hand has is provided with the auxiliary roller that can freely swing.

Described plug movable part has a framework and a mechanism hand assembly, and above-mentioned shifter remains on this framework, so that move at last circular guide rail along the gas turbine circumferencial direction; Described mechanism hand assembly inserts in the framework upper edge and the direction of the burner of choosing moves; Described mechanism hand assembly is connected with described mechanism hand, so that can shake on two independent, direction under the effect of a linkage mechanism, each described linkage mechanism has three above connecting rods at least.

Assembly in the middle of between above-mentioned mechanism hand assembly and mechanism hand, being provided with, the described linkage mechanism that is at least has the 1st and the 2nd linkage mechanism, described mechanism hand assembly is connected with middle assembly by the 1st linkage mechanism, and above-mentioned mechanism hand is connected with middle assembly by the 2nd linkage mechanism.

Also comprise the above-mentioned the 1st and the 2nd linkage mechanism is applied the restoring mechanism that restoring force makes it to reset to an one special position.

Above-mentioned restoring mechanism has the home position controlling mechanism of the home position of regulating the 1st and the 2nd linkage mechanism.

Also comprise making the swing of the above-mentioned the 1st and the 2nd linkage mechanism become the predetermined mode state, and when it reaches predetermined mode, apply the swing arrestment mechanism of braking force to linkage mechanism until linkage mechanism.

Described the 2nd linkage mechanism comprises the connecting rod of a plurality of trapezoidal shapes, the length of connecting rod and the Support Position thereof of at least 3 connecting rods are adjustable, and can insert between installation position, termination and the center of gravity, adjust the position of above-mentioned connecting rod reference point by the combustor component of above-mentioned mechanism hand clamping.

At least have the axle position regulating mechanism that to adjust the position of link end axle in above-mentioned the 2nd linkage mechanism, and have the reference point location moving member of adjusting the reference point location of at least 3 connecting rods in the aforementioned link mechanism between installation position, termination and the combustor component center of gravity inserting.

Described at least 3 connecting rods be arranged in parallel.

Two connecting rods in described three above connecting rods are one group, the coaxial connection of interlinking lever end in this group.

In restoring mechanism, be provided with and confirm that linkage mechanism resets into the location confirmation sensor of special position.

Be provided with equilibrant than regulating mechanism, and have according to the above-mentioned equilibrant of the information-driven of above-mentioned location confirmation sensor, make at least one aforementioned link mechanism reset into the automatic restoring mechanism of special position than regulating mechanism.

From above-mentioned mechanism hand direction, the connecting rod of aforementioned link mechanism roughly point to combustor component termination reference point towards on be the trapezoidal shape setting substantially.

Be provided with the guide mechanism that can replace aforementioned link mechanism, mechanism hand is moved with respect to the mechanism hand assembly along spherical shape track work.

Above-mentioned guide mechanism is set to see that by above-mentioned mechanism hand direction radius of curvature is centered close between insertion termination assembly department and the combustor component center of gravity and the curve orientation mechanism that can independently lead on both direction.

Be provided with balanced controls at least one linkage mechanism, at least one position of the mechanism hand of close at least one linkage mechanism is provided with point of action on the above-mentioned middle assembly of these balanced controls; Near at least one above-mentioned mechanism hand assembly of the framework of at least one aforementioned link mechanism or above-mentioned in the middle of certain position of assembly be provided with fulcrum; The opposite side of this fulcrum be provided with as with the counterweight of the balanced controls in the force of point of action balanced, use is also used as at least one balanced connecting rod of one and another balanced connecting rod at least 3 linkage mechanisms, as above-mentioned 3 weight bean, support above-mentioned balanced connecting rod, balanced connecting rod is independently being swung on the both direction at point of action and fulcrum.

In above-mentioned balanced controls, be provided with the equilibrant that changes the equilibrant ratio by the position that changes at least one force, above-mentioned point of action, fulcrum and compare regulating mechanism.

Also comprise a balanced connecting rod that is provided with separately, above-mentioned balanced connecting rod is provided with error absorbing mechanism, when at least one linkage mechanism moves,, can be absorbed in gemoetric error on the connecting rod direction if this balanced connecting rod is gone up for how much when redundant for above-mentioned at least one linkage mechanism.

On circular guide rail periphery and interior all sides, disposed chain along circular guide rail circumferencial direction as framework mobile guide parts, these chain both sides are provided with a plurality of outstanding long-chain joints at regular intervals along its length direction, and the outstanding end of the pin of each described long-chain joint is fixed on the above-mentioned circular guide rail by fixed block.

The framework that moves along circular guide rail has a plurality of sprocket wheels that cooperate with chain and rotate synchronously.

Said frame fixedly is fixed on the guide runner that is led by above-mentioned circular guide rail by a plurality of fastening pieces, and above-mentioned fastening piece is an elastic element, by being equal to or greater than the opposite force effect of the contrary pre-sizing of fastening direction, allows moving in contrary fastening direction.

Circular guide rail is arranged on the gas turbine periphery always, so that be supported on other parts of installing around the gas turbine.

Described gas turbine attaching/detaching apparatus also comprises moving member, and this moving member can move on to each position of gas turbine outer circumferential face along circular guide rail, and the holding member that can keep gas turbine component is installed on it.

Described gas turbine attaching/detaching apparatus comprises that also can be transmitted the holding device that combustor component makes its turnover mechanism hand; With a positioning element, can stop the said burner part holding device and be located determining on the position, determine the transmission of the combustor component of the enterprising above-mentioned mechanism hand of advancing out in position, position usually at this.

Described gas turbine attaching/detaching apparatus, outer Monday of gas turbine body housing side adopted flange as circular guide rail, this flange is carrying framework as guide rail, its side has along the circumferential direction formed many and guiding boss gas turbine body housing parallel axes at certain intervals simultaneously, device for revolving and driving with the gear that is meshed with above-mentioned each guide protrusions has been installed on said frame, thus, said frame can move around the gas turbine body housing.

Described gas turbine attaching/detaching apparatus, it is characterized in that: circular guide rail interconnects and is arranged on around the gas turbine body housing by a plurality of circular-arc track segments that separate and have certain intervals on radial direction, interior Monday of above-mentioned track segment side direction the central direction projection and be provided with a plurality of load-bearing bolts, outer circumferential face upper edge at above-mentioned gas turbine body housing has circumferentially overlapped a plurality of substrates at certain intervals, by the assembly that cooperates with above-mentioned load-bearing bolt, aforesaid substrate is connected on the outer circumferential face of above-mentioned gas turbine body housing by above-mentioned track segment one side pressure respectively, and above-mentioned circular guide rail is fixed.

On circular guide rail, be provided with the range of movement limiting part that forms by projection or groove, on the framework that moves on the above-mentioned circular guide rail, installed and passed in and out described range of movement limiting part and mobile movable type mechanical stopper.

On above-mentioned movable type mechanical stopper, be provided with and detect this mechanical stops in advance whether near the portable hard limit switch of an end of limiting part.

Described gas turbine attaching/detaching apparatus is characterized in that having: obtain the distribution pipe arrangement base part that power or signal are used from the outside of frame movement scope; And

Cable pulling bolt (cable hitch) in the intermediate portion of this distribution pipe arrangement base part of gas turbine circumferential position upper support.

On the floor beyond the range of movement, set the control gear of controlled motion parts.

Distribution tubing parts have than the sufficiently long length of cable pulling bolt, make that the cable pulling bolt can circumvolution on gas turbine, and are provided with the affirmation switch of confirming operator's quantity at above-mentioned distribution pipe arrangement tip part middle part.

On circular guide rail, be provided with the range of movement limiting part that forms by groove, on the framework that moves on the above-mentioned circular guide rail, installed and passed in and out described range of movement limiting part and mobile movable type mechanical stopper.

Described outside mechanism hand has mechanical paw, and it is provided with a drive unit, and this drive unit has drive output is done rotation motion with respect to the mechanism hand central shaft outside robot drives parts; And being provided with that an end and this outside manipulator driving device output terminal are rotatable to link to each other, the other end and mechanical paw end turn the outside mechanical paw drive link that links to each other.

The present invention also provides a kind of gas turbine attaching/detaching apparatus, has:

Gas turbine burner parts clamping manipulator;

The plug movable part that supports above-mentioned mechanism hand and can move with respect to the burner central axes; With

Above-mentioned plug movable part remained on the holding member in the housing that constitutes gas turbine outside parts; Wherein,

Described plug movable part has a framework, and above-mentioned holding device remains on this framework; A mechanism hand assembly, described mechanism hand assembly insert in the framework upper edge and the direction of the burner of choosing moves; At least one linkage mechanism is connected with described mechanism hand simultaneously with described mechanism hand assembly, so that above-mentioned at least one linkage mechanism can freely be shaken on two independent, direction, above-mentioned at least one linkage mechanism has three above connecting rods at least.

Described gas turbine attaching/detaching apparatus is provided with balanced controls at least one linkage mechanism, these balanced controls are provided with point of action near the mechanism hand of at least one linkage mechanism and at least one position of above-mentioned mechanism hand on above-mentioned middle assembly; Near the above-mentioned at least mechanism hand assembly of the framework of at least one linkage mechanism or above-mentioned in the middle of certain position of assembly be provided with fulcrum; The opposite side of this fulcrum be provided with as with the counterweight of the balanced controls in the force of point of action balanced, wherein at least one counterweight uses at least one balanced connecting rod of one and another balanced connecting rod that is also used as at least 3 linkage mechanisms, as above-mentioned 3 weight bean, support above-mentioned balanced connecting rod, balanced connecting rod is freely independently being swung on the both direction at point of action and fulcrum.

In above-mentioned balanced controls, be provided with the equilibrant that changes the equilibrant ratio by the position that changes at least one force, above-mentioned point of action, fulcrum and compare regulating mechanism.

Also comprise a balanced connecting rod that is provided with separately, above-mentioned balanced connecting rod is provided with error absorbing mechanism, when at least one linkage mechanism moves, if this balanced connecting rod is gone up for how much when redundant for above-mentioned at least one linkage mechanism, in the time of can absorbing above-mentioned at least one connecting rod mechanism movement on the connecting rod direction gemoetric error.

The present invention has positive effect:

Aforesaid, dismounting for the complexity of multiple tank type gas turbine burner, with the past like that almost was to be compared by the situation that staff carries out, because the attaching/detaching apparatus of the application of the invention, can be safely and easily carry out operation, check the needed duration of burner so can also shorten.

By artificial dismounting burner the time, following various operation all is very difficult, comprising: during the crane combustor component, make it towards the adjustment consistent with the burner angle of inclination, the operator lifts spacer shell and it is extracted or inserts in gas turbine operation, with the operation of manually pulling out or inserting combustion liner and spacer shell as the crow flies along the burner central shaft, the operations necessary such as operation of hoist during following half side burner dismounting.But according to the present invention, above-mentioned operations can realize that all mechanization promptly uses machine operation, so operative weldability is greatly improved.

Following with reference to accompanying drawing, describe embodiments of the invention in detail:

Fig. 1 is the installment state side diagrammatic sketch of gas turbine attaching/detaching apparatus on gas turbine in the embodiment of the invention 1.

Fig. 2 is a gas turbine attaching/detaching apparatus critical piece schematic perspective view shown in Figure 1.

Fig. 3 is the three-dimensional enlarged diagram of mechanism hand shown in Figure 2.

Fig. 4 is a mechanism hand user mode schematic perspective view shown in Figure 3.

Fig. 5 a, 5b, 5c are respectively each user mode schematic perspective views of inboard mechanism hand shown in Figure 3.

Fig. 6 is the modified example side schematic view of the gas turbine attaching/detaching apparatus of the foregoing description.

Fig. 7 is other modified example side schematic view of the gas turbine attaching/detaching apparatus of the foregoing description.

Fig. 8 is the relevant gas turbine attaching/detaching apparatus basic structure front view of the embodiment of the invention 2.

Fig. 9 is the positive generalized section of the linkage mechanism of robot body shown in Figure 8.

Figure 10 is that the linkage mechanism torsional stiffness is strengthened the stravismus schematic representation of using coupling shaft in the foregoing description 2.

Figure 11 is the balanced controls schematic representation of linkage mechanism in the foregoing description 2.

Figure 12 is the balanced controls explanatory drawing of linkage mechanism in the foregoing description 2.

Figure 13 is a sectional perspective schematic representation among Fig. 12.

Figure 14 is the restoring mechanism floor map of linkage mechanism in the foregoing description 2.

Figure 15 is the side view of Figure 14.

Figure 16 is a swing arrestment mechanism enlarged diagram shown in Figure 14.

Figure 17 is the action specification figure of the spring recovery characteristics of expression linkage mechanism in the foregoing description 2.

Figure 18 is the foregoing description 2 robot manipulator structure schematic representation.

Figure 19 is the relevant gas turbine attaching/detaching apparatus structural upright schematic representation of the embodiment of the invention 3.

Figure 20 is the foregoing description 3 pattern schematic representation.

Figure 21 is the relevant gas turbine attaching/detaching apparatus structural upright schematic representation of the embodiment of the invention 4.

Figure 22 is the modified example schematic perspective view of the foregoing description 4.

Figure 23 is the restoring mechanism sectional drawing of the relevant gas turbine attaching/detaching apparatus constituent elements of the embodiment of the invention 5.

Figure 24 is a restoring mechanism acting characteristic schematic representation shown in Figure 22.

Figure 25 is the relevant gas turbine attaching/detaching apparatus structural upright schematic representation of the embodiment of the invention 6.

Figure 26 is the schematic perspective view of looking up of circular guide rail shown in Figure 25.

Figure 27 is a circular guide level schematic representation shown in Figure 25.

Figure 28 be Figure 27 be B-B to view.

Figure 29 is that the C-C of Figure 27 is to view.

Figure 30 is the foregoing description 6 middle frame supporting structure schematic perspective views.

Figure 31 is the sectional drawing of supporting structure shown in Figure 30.

Figure 32 is a structure critical piece enlarged diagram shown in Figure 31.

Figure 33 is framework shown in Figure 31 and guide rod binding site operating principle generalized section.

Figure 34 is a framework supporting structure modified example schematic perspective view shown in Figure 30.

Figure 35 is a supporting structure fragmentary cross-sectional view shown in Figure 34.

Figure 36 is framework shown in Figure 35 and guide rod binding site manner of execution generalized section.

Figure 37 is the relevant gas turbine attaching/detaching apparatus texture edge schematic representation of the embodiment of the invention 7.

Figure 38 is the local enlarged diagram of Figure 37.

Figure 39 is the schematic perspective view of the relevant gas turbine attaching/detaching apparatus structure of the embodiment of the invention 8.

Figure 40 is the generalized section that maintenance shown in Figure 39 and slide block amplify.

Figure 41 is the relevant gas turbine attaching/detaching apparatus structural upright schematic representation of the embodiment of the invention 9.

Figure 42 is the manner of execution side schematic view of the foregoing description 9.

Figure 43 is the manner of execution side schematic view of the foregoing description 9.

Figure 44 is a spacer shell supporting part enlarged diagram shown in Figure 43.

The front schematic view of the gas turbine attaching/detaching apparatus structure that Figure 45 embodiment of the invention 10 is relevant.

Figure 46 is the side schematic view of Figure 45.

Figure 47 is the three-dimensional enlarged diagram of gear parts shown in Figure 45.

Figure 48 is the front schematic view of the relevant gas turbine attaching/detaching apparatus structure of the embodiment of the invention 11.

Figure 49 is the schematic perspective view that amplify at the main position of structure shown in Figure 48.

Figure 50 is the schematic perspective view of the relevant gas turbine attaching/detaching apparatus tactic pattern of the embodiment of the invention 12.

Figure 51 is the generalized section that stop portion shown in Figure 50 is amplified.

Figure 52 is the side schematic view of the relevant gas turbine attaching/detaching apparatus structure of the embodiment of the invention 13.

Figure 53 is the acting characteristic of restoring mechanism shown in a Figure 52 schematic representation.

Figure 54 has the gas turbine side schematic representation of multipot type burner.

Figure 55 is the longitudinal profile schematic representation that burner shown in Figure 54 amplifies.

Specifically describe embodiments of the invention below with reference to figure.In addition, also can be about the constituent elements of gas turbine directly with reference to Figure 52 and Figure 53.

Fig. 1 has provided the External view of attaching/detaching apparatus unitary construction.Among Fig. 1, (9a, 9b), this has certain intervals to annular orbit at axial direction around gas turbine 1 a pair of annular orbit 9 concentric with the gas turbine axle center to be installed.The annular orbit 9b of annular orbit 9a diameter ratio piston compressor 17 1 sides of gas turbine body housing 8 one sides is big.On these annular orbits 9a, 9b, settling the attaching/detaching apparatus 10 of using the lifting overhead traveling crane to install.In addition, in order to increase the stability of attaching/detaching apparatus 10, the number that does not limit annular orbit 9 is increased to more than 3.

In addition, also can replace annular orbit 9, the structure that formation can move freely along the gas turbine periphery, also can constitute with chain and sprocket wheel or with the wheel that is contained in the attaching/detaching apparatus body and magnet is made with the combination of rack-and-pinion.Above-mentioned parts both can use separately, use also capable of being combined.

Fig. 2 has provided the basic structure of attaching/detaching apparatus shown in Figure 1 10.

As shown in Figure 2, attaching/detaching apparatus 10 is made of mechanism hand 11, plug movable part 13 and a pair of circumference moving member 15a, 15b substantially, and wherein mechanism hand 11 is used for the parts of clamping burner 2; Plug movable part 13 is bearing on the framework 18, and mechanism hand 11 is seesawed along the direction B that is parallel to burner 2 central shafts; The two ends that circumference moving member 15a, 15b are supporting frame 18 can be moved on each annular orbit 9a, 9b by the circumferencial direction C of gas turbine.Here the setting angle D that plugs movable part 13 is set at the identical value of mounting inclination angle degree A with the burner 2 shown in Figure 52 by framework 18.

Fig. 3 has drawn the mechanism hand as one of constituent elements of attaching/detaching apparatus 10 shown in Figure 2 in detail.

As shown in Figure 3, mechanism hand 11 is bearing on the pedestal 22, realizes with the burner central shaft being freely the rotating of circumferencial direction (E direction among the figure) at center by whirligig (among the figure draw).In addition, the center position at mechanism hand 11 stretches out rod member 20 forward.Utilization is passed through the parallel trimming piece 14 that hinge 37 connects in two horizontal position of pedestal 22, and it is mobile that rod member 20 is axially finely tuned.And, on this parallel trimming piece 14, pass through hinge 38 and the angle that plugs angle inching bar 20.

In addition, as shown in Figure 3, two in the outside independently inboard mechanism hand 19 of clamping and outside mechanism hand 21 in the mechanism hand 11 of present embodiment has.Inboard mechanism hand 19 has a segment length that can be inserted into the gas turbine shell, but this mechanism hand 19 is mounted in the more small-sized mechanism hand of rod member 20 top ends by hinge 36 connections and free bend.On the other hand, outside mechanism hand 21 has the structure firmer than above-mentioned inboard mechanism hand 19, its mounting point have with the robot base 22 of the connecting part 35 that combines of plug movable part 13 axially on, and its distance with pedestal 22 is nearer than inboard mechanism hand mounting point.

In addition, the inboard mechanism hand 19 of clamping mechanism hand and outside mechanism hand 21 can carry out the on-off action on the F and G direction among the figure by intersecting pin 33,34 among Fig. 3, though it is that 3 claw types become that the pawl 23,24 on the top is drawn as, but be not limited to this, also do not have what problem with having 4 forms with dewclaw.

On the position opposite, disposed counterweight 16 with the mounting point of inboard mechanism hand 19 and outside mechanism hand 21 on the rod member 20, because inboard mechanism hand 19 and outside mechanism hand 21 clampings vary in weight, the supporting center of gravity also will move, in order to keep balance, counterweight 16 is arranged to and can be axially being produced corresponding mobile structure with clamping weight by manual or automated manner.

Below with reference to Fig. 4, Fig. 5, the operating principle of above-mentioned gas turbine attaching/detaching apparatus is described.

The mechanism hand 11 that Fig. 4 has represented attaching/detaching apparatus 10 in the present embodiment when fuel nozzle 3 and base plate 4 are assembled into one with its clamping and the state when burner housing 7 takes out.

In Fig. 4, mechanism hand 21 usefulness pawls 24 in the outside the mounting flange 25 that fuel nozzle 3 is housed from outside clamping.The unloading process that base plate 4 is fixed on the bolt on the burner housing 7 carries out under clamp position.In addition, inboard mechanism hand 19 is stretched from the root of rod member 20, make it not disturb the gripping object of outside mechanism hand 21.

In this state, along the direction (among the figure 4 in arrow H) that is parallel to the burner central shaft fuel nozzle 3 and base plate 4 are pulled out, attaching/detaching apparatus is rotated by gas turbine circumferencial direction C shown in Figure 2, forward the uppermost position of gas turbine 1 as shown in Figure 1 to, in this position, with lifting overhead traveling crane 107 grades parts are sling and to be taken out of.

In addition,, also can move to the parts of dismounting the bottommost (not drawing among the figure) of gas turbine 1, be loaded on the dedicated trolley and take out of as another kind of method.Undertaken by above-mentioned opposite process during assembling.

Because attaching/detaching apparatus 10 can move along the circumferencial direction C of gas turbine, and always can keep the identical posture of mounting inclination angle degree A with burner 2, therefore, no matter above-mentioned a series of dismounting effect can be carried out with identical method being installed in burner where 2.

Corresponding with the parts that outside mechanism hand 21 clamping gas turbine body housings 8 outsides are heavier, 19 on inboard mechanism hand is used for the low weight spacer shell 6 of clamping gas turbine body housing 8.

Fig. 5 has represented to open inboard mechanism hand 19, with pawl 23 clamping spacer shells 6, and when gas turbine body housing 8 is pulled out, the state of from shell 8, seeing.

Fig. 5 (a) has represented the installment state of inboard mechanism hand 19 in the spacer shell 6.Because the outlet 6a place transverse dimension of spacer shell 6 is big, will interfere with vertical long dismounting mouth 8a on the shell 8 when directly extracting.Therefore, shown in Fig. 5 (b), avoid above-mentioned interference, resemble the outside of moving shell 8 to Fig. 5 (c) then thereby the rod member 20 that connects inboard mechanism hand 19 rotated along burner central shaft circumferencial direction J.This operation can realize by make rod member 20 and mechanism hand 11 rotations shown in Figure 3.

The inboard mechanism hand 19 of the spacer shell 6 (about 100kg) that clamping is lighter than burner housing 7 grades can be done more lightly with outside mechanism hand 21 is independent fully.Therefore, even be installed in the top that reaches the rod member 20 that can insert in the shell 8, also be minimum to the moment of rod member 20 fixed ends.On the other hand, though mechanism hand 21 clampings in the outside are than weight body (about 500kg) and have the structure firmer than inboard mechanism hand 19, but it is, not far apart from the pedestal 22 of mechanism hand 11, therefore also minimum to the moment of mechanism hand 11 pedestals 22 supports because of not being inserted into shell 8 inside.

In addition, do not draw among the figure, when dismounting burner backing plate 5, burner noz(zle) 3 one side ends with this burner backing plate 5 of outside mechanism hand 21 clampings, clamp inner core 32 1 side ends with inboard mechanism hand 19 simultaneously, then can be fetched into the outside of shell 8, and for burner housing 7 and gas turbine body housing 8, by the clamping of outer mechanism hand 21, also can take out.

In the attaching/detaching apparatus 10 of the present embodiment that forms in a manner described, owing to can clamp relevant parts exactly with medial and lateral mechanism hand 19,21, the danger that the whereabouts of parts and operator are extruded and so on just becomes very little.In addition, no matter be installed in that burner where 2 can carry out the dismounting operation with identical method around the gas turbine, so particularly for the operation of Lower Half, its operability has just been improved greatly.Secondly, because pulling out and transmit all of burner 2 parts undertaken by attaching/detaching apparatus 10, therefore can eliminate in the past the operator and lift in person and send parts and so on heavy physical labour.Moreover, owing to can make spacer shell 6 rotations and change direction, thereby make the insertion of spacer shell 6 and extract all and can carry out easily by mechanism hand 11 rotation around burner 2 central shafts.In addition, the interior outside is the design of 2 the interior outside of clampings mechanism hands 19,21 independently, can separate clamping spacer shell 6 and other situation than heavy parts, thereby, can reduce to be applied to the moment of mechanism hand support, attaching/detaching apparatus can be of compact construction.

Fig. 6 and Fig. 7 have provided the modified example that reaches corresponding therewith attaching/detaching apparatus 10 supporting structures at the annular orbit 9 of present embodiment respectively.

Attaching/detaching apparatus 10 is arranged on the periphery of two annular orbit 9a, 9b in the example of Fig. 6, then attaching/detaching apparatus is arranged on the inside circumference of two annular orbit 9a, 9b in the example of Fig. 7.All the external diameter of the annular orbit 9b of ratio piston compressor 17 1 sides is little for the external diameter of the annular orbit 9a of gas turbine body housing 8 one sides under two kinds of situations, it is consistent with the central shaft angle of burner 2 that official post by this external diameter gets the plug angle D (with reference to Fig. 2) of attaching/detaching apparatus 10, and framework 18 do not had unnecessary pin to prop up parts, and attaching/detaching apparatus directly is bearing on annular orbit 9a, the 9b.Therefore, just can obtain the work effect identical with top embodiment, and annular orbit 9a, 9b are last to make that supporting is firmer because attaching/detaching apparatus 10 directly is placed in, shock resistance improves.

Fig. 8 has represented to utilize the basic structure of the gas turbine attaching/detaching apparatus of the embodiment of the invention 2.

In the present embodiment, attaching/detaching apparatus 51 is made of the robot controller of not drawing among moving member 53 on annular orbit 9, the annular orbit 9 (claiming that in the present embodiment this part is a robot body) and the figure.Annular orbit 9 is similar to the annular orbit 9 of previous embodiment 1, and with the central shaft concentric arrangement of gas turbine 1 and axially be provided with at least at certain intervals more than two, robot body just is installed on the annular orbit 9.

Robot body 53 is bearing in framework 54 (basic identical with embodiment 1 framework 18), constitutes with mechanism hand assembly 55 (pedestal 22 that is equivalent to embodiment 1) and mechanism hand 56.Be that framework 54 moves at annular orbit 9 upper edge gas turbine circumferencial directions, mechanism hand assembly 55 is in the insertion of these framework 54 upper edge combustor components and extract direction and move, mechanism hand 56 is installed on this mechanism hand assembly 54, is used for the clamping combustor component.

For this structure, operating gas turbine under the situation that annular orbit 9 is installed normally.When the needs dissembling inspection, robot body 53 is installed on the annular orbit 9, make robot body 53 do moving of gas turbine circumferencial direction, so that be installed in mechanism hand 56 on the mechanism hand assembly 55 near combustor component along annular orbit 9.

In the present embodiment, have with mechanism hand 56 clampings of the mounting inclination angle same tilt angle of combustor component and this combustor component,, will take out as the nut of link with staff or spanner earlier during combustor component in dismounting, by robot body 53 combustor component is extracted then.

Robot body 53 moves to the top or the bottom of annular orbit 9, then can carry out relevant be suspended to combustor component on the lifting overhead traveling crane or the discharging conveying trolley on work.As one procedure, the disassembling section of the burner of gas turbine 1 is in sequence.And after burner 2 had overhauled, the fitting operation of the burner 2 of gas turbine 1 also was the opposite operation of operation when taking out according to the front, till combustor component is inserted and fixes.

Fig. 9 represents the structure of mechanism hand assembly 55 and mechanism hand 56 in detail.

Among Fig. 9, mechanism hand 56 embodiments 1 of attaching/detaching apparatus 51 are identical to be provided with the essentially identical angle of inclination of mounted angle with burner 2 relative gas turbines 1, the minimum linkage mechanism 57 more than 3 groups that is provided with at interval by circumferencial direction between mechanism hand assembly 55 and mechanism hand 56 forms common state (independently freely swinging on the both direction).

Assembly 58 in the middle of being provided with between mechanism hand assembly 55 and mechanism hand 56 by assembly 58 in the middle of this, is together in series several linkage mechanisms, forms common state.To describe in detail in the back about this linkage mechanism 57.When the insertion of combustor component is transferred to, between mechanism hand assembly 55 and mechanism hand 56, allow the holding position of mechanism hand 56 and the error between the combustor component mounting point, so that the plug operation.

In addition, by middle assembly 58 a plurality of linkage mechanisms 57 are coupled together among Fig. 9, can be used in combination various function described later.

Linkage mechanism 57 is made up of two kinds of linkage mechanism parts 72,73.The 1st kind of linkage mechanism parts 72 are a kind of parallel rod structures, and it has 3 parallel rods 72,72b and the 72c that mechanism hand assembly 55 and middle assembly 58 are coupled together.

The 2nd kind of linkage mechanism parts 73 have 3 connecting rod 73a, 73b and the 73c that middle assembly 58 and mechanism hand 56 are coupled together, and these connecting rods 73a, 73b and 73c are a kind of trapezoidal linkage mechanisms that is formed sensing combustor component top orientation or 74 point (reference point) directions by mechanism hand 56 clampings.The trapezoidal connecting rod that points to reference point 74 directions is different with parallel rod, when connecting rod rotates, will become the redundant state on the mechanology, produces moment of torsion, has therefore designed the running shaft 75 that bears allowable torque in connecting rod 73c.Promptly at the length direction dimidiation of connecting rod 73c, and with running shaft 75 they are coupled together along its length, make these running shaft 75 parts can bear allowable torque.

Figure 10 has represented the structure of the 1st linkage mechanism in detail.This linkage mechanism 72 3 connecting rod 72a, 72b and 72c be set in parallel at regular intervals mechanism hand 56 around, but wherein two connecting rods (for example 72a, 72b) become one group for improving intensity.A pair of coaxial bearing 40 and 41 promptly are set on mechanism hand assembly 55, support an axle 88 that can rotate freely with these two bearings 40 and 41.Above-mentioned connecting rod 72a, 72b be approximate to be H shape, and each open part with an end embeds axle 88, embeds the position simultaneously and makes being connected that connecting rod 72a and 72b and 88 formation can rotate freely with intersecting pin 42 and 43.Equally, on the middle assembly 58 a pair of coaxial bearing 44 and 45 are set also, be bearing in the other end open part that the axle 89 that can rotate freely on bearing 44 and 45 embeds connecting rod 72a and 72b with one, and also sell 46 and 47 and connect into the form that rotates freely with intersecting.

The axis of pitch of connecting rod 72a is consistent with the axis of pitch of the connecting rod 72b of another side, it intersects pin 42,43 longitudinal axis and intersects with each, produce point 76 and 78 and be exactly connecting rod 72a and 72b fulcrum at mechanism hand assembly 55, connecting rod 72a and 72b are the center with these intersection points (fulcrum) 76 and 78 then, swing in direction in length and breadth.

In addition, at the connecting rod 72a of middle assembly 58 1 side symmetric arrangement and the top axis of pitch 82 and 86 of 72b is consistent, they with intersect pin 46 and 47 longitudinal axis 83,87 and intersect, point of intersection 77 and 79 is connecting rod 72a and the relative fulcrum of 72b middle assembly 58 sides.

Like this, keeping parallelism Connecting format always between each fulcrum 76,78,77 and 79, middle assembly 58 can carry out relative mechanism hand assembly 55 keeping parallelism state, planar unrestricted motions.

In addition, only can not bear big weight with pair of links 72a and 72b, so, 3 supportings formed by another connecting rod 72c as shown in figure 10.This connecting rod 72c also has the H shape shape identical with 72b with above-mentioned connecting rod 72a, supports by bearing 30 and 31, axle 32 and the pin 33 that intersects in mechanism hand assembly 55 1 sides.And also support by bearing 34 and 35, axle 28 and the pin 29 that intersects in intermediate member 58 1 sides.

Connecting rod 72c is independent setting, but the 4th connecting rod Connecting format identical with 72b with above-mentioned connecting rod 72a also can be set again.Certainly, the connecting rod number also can be provided with whole connecting rods for a long time individually.

Like this, corresponding to the middle assembly 58 of mechanism hand assembly 55 supportings, the formation of the aforesaid linkage mechanism 73 of supporting machinery hand 56 is also with in like manner above-mentioned.But because each connecting rod 73a, 73b and 73c point to reference point 74, thus not parallel rod, and form trapezoidal connecting rod.By as the linkage mechanism 72 of parallel rod with as the combination of the linkage mechanism 73 of trapezoidal connecting rod, middle assembly 58 is relative to mechanism hand assembly 55 parallel moving, and perhaps mechanism hand 56 can be described as motion of grinding shape and the state that can keep pointing to reference point 74 with respect to middle assembly 58.Will be explained below about this operating principle.

Below with reference to Figure 11-Figure 13, the balanced controls 90 and 91 that are installed on the linkage mechanism 57 are described.Linkage mechanism 72 and 73 mechanism hand one side are provided with point of action 92a and 92b on middle assembly 58 or mechanism hand 56, linkage mechanism framework one side is provided with fulcrum 93a and 93b on mechanism hand assembly 55 or middle assembly 58, as weight bean, oppositely be provided with counterweight 95a and the 95b (this point is the force) that the weight with point of action 92a and 92b matches with balanced connecting rod 94a and 94b at its fulcrum 93a and 93b.

As shown in figure 11, in the balanced controls 90 of linkage mechanism 72, as 3 or weight bean, but any one double as balanced connecting rod 94a among the 72a of linkage mechanism 72,72b and the 72c, universal ground (freely swinging on 2 directions independently) is supporting above-mentioned balanced connecting rod 94a on point of action 92a and fulcrum 93a simultaneously.Equilibrant has counterweight 95a (force) position in 3 points of change (force, point of action, fulcrum) than controlling mechanism 96, thereby changes the function of equilibrant ratio.Specifically, equilibrant is installed in counterweight 95 places than controlling mechanism 96, is made up of the small gear 96a of driving source driving and the tooth bar 96b on the balanced connecting rod 94a.

As shown in figure 12, in the balanced controls 91 of linkage mechanism 73, adopted other balanced connecting rod 94b as the weight bean of 3 point types, at point of action 92b and the peaceful weighing apparatus connecting rod of the universal twelve Earthly Branches of fulcrum 93b 94b.

In the linkage mechanism 73 of Figure 12, equilibrant has 3 points (force, point of action, fulcrum) of change central bearing point 93b position than controlling mechanism 97, thereby changes the function of equilibrant ratio.

Specifically, equilibrant is made up of the driving source that is configured on the balanced connecting rod 94b bolt 97a that drives and the nut that is placed in fulcrum 93b than controlling mechanism 97.Fulcrum 93b can move with respect to middle assembly 58 by linear guides 98, also can move with respect to balanced connecting rod 94b by linear guides 98.

Because balanced connecting rod 94b is redundant on mechanics with respect to the motion of linkage mechanism 73, so gemoetric error on can the torsional direction of absorption equilibrium connecting rod 94b during linkage mechanism 73 motion, promptly can be used as error absorbing mechanism, on point of action 92b, be provided with lubber-line 99 (guide groove) as shown in figure 13.

As shown in Figure 9, mechanism hand 56 is by the mechanism hand seat 56a of linkage mechanism 73 supporting and be installed in mechanism hand seat 56a by axle 56c and go up and can form by free rotating mechanism hand body 56b, be provided with swirl gear 111 in the mechanism hand 56 and have floating bearing 112, mechanism hand swiveling gear and three parts of tooth sector, wherein floating bearing 112 is arranged on the mechanism hand seat 56, is supporting mechanism hand body 56b by axle 56c and is freely turning round; Mechanism hand swiveling gear 113 is driven by the drive motor 111a that is arranged on mechanism hand seat 56a side; Tooth sector is arranged on the mechanism hand body 56b, with swiveling gear 113 engagements.The angle that swirl gear 111 can make mechanism hand body 56b rotation wish.

Utilize Figure 14-Figure 16 that restoring mechanism 59 is described below.Restoring mechanism 59 is under the universal supporting that linkage mechanism 57 forms, and applies restoring force for mechanism hand 56, makes it to get back to the mechanism of particular state (pendulum angle).For producing the plane restoring force of xyz axle, restoring mechanism 59 has designed z axle restoring mechanism 60 and 61.Restoring mechanism 60,61 is made up of cover 60a, 61a and rotating shaft 60b, 61b respectively, this is formed one group to restoring mechanism 60,61 and can be installed between mechanism hand assembly 55 and the middle assembly 58 with freely swinging, and between middle assembly 58 and the mechanism hand 56 and will above-mentioned each parts couple together (Figure 14) be a pair of restoring mechanism 60 that part 58 in mechanism hand assembly 55 and the centre installation is coupled together and 61 floor map, provided the side sectional view of one of them among Figure 15).

Forward spring 62 and the backspring of making of compression helical spring 63 oppositely has been installed between cover 60a, 61a and rotating shaft 60b, 61b in the restoring mechanism 60,61 as shown in figure 16 mutually.Forward spring 62 is from the big footpath terminal 70 of cover 60a, 61a postive direction (right of Figure 16) pushing axle 60b, 61b.In addition, be provided with spring positive stop 64 in the bosom position of cover 60a and 61a.After forward spring 62 and backspring 63 pushed up spring positive stop 64, the thrust of countershaft 60b, 61b was just inoperative.Two ends in cover 60a, 61a are being twisted spring pressure and are being adjusted bolt 65,66.Adjust the degree that screws of bolt 65,66 and sheath body 60a, 61a by changing spring pressure, just can adjust the pushing force of each spring 62,63.

In addition, restoring mechanism 60,61 has swing arrestment mechanism 67.This swing arrestment mechanism 67 is by swinging to linkage mechanism 57 swing member 68 of predetermined halted state (pendulum angle) and provide the brake member 69 of this swing position braking force to form.Swing member 68 is the expansion device that is installed in series in restoring mechanism 60,61 (end that just is arranged on cover 60a, 61a in this case and rotating shaft 60b, 61b mutually independently cylinder), and brake member 69 is installed in the other end of cover 60a, 61a, be can clamping brake axle 60b, 61b shaft brake.

In the superincumbent structure, because restoring mechanism 59 for linkage mechanism provides the restoring force that returns to specific (for example center) state (pendulum angle), makes by the combustor component of mechanism hand 56 clampings to remain on the position of central shaft.Combustor component such as (for example in the conveyance or before inserting) is stabilized in the particular state with respect to robot body beyond the plug time.Forward spring 62 is with respect to cover 60a, 61a forward ground pushing axle 60b, 61b, and backspring then oppositely pushes a 60b, 61b with respect to cover 60a, 61a.After the special position of spring positive stop 64 that touches cover 60a, 61a, forward spring 62, backspring be no longer push shaft 60b, 61b3 just.Thereby forward spring 62 and backspring 63 demonstrate characteristic shown in Figure 17, as long as leave special position slightly and will produce the restoring force that resets, not adding before certain specific thrust, are stabilized on its special position always.Above-mentioned specific thrust can be adjusted by the original state of rotating spring pressure adjustment bolt 65,66 control springs.

As Figure 14-shown in Figure 16, in the swing arrestment mechanism 67, swing member 68 can make linkage mechanism 57 swings be desirable state (pendulum angle), brake member 69 provides braking force, so when on the direction of advance of the combustor component of mechanism hand 56 clampings, having obstacle, can swing to avoiding the state of this obstacle, and when not needing the swing of avoid-obstacles, can brake.Specifically, swing member 68 can switch special position by the expansion device that is installed in series on restoring mechanism 59, and brake member 69 can be braked with the shaft brake lock shaft 60b, the 61b that are installed on cover 60a, the 61a.

In the present embodiment, by restoring mechanism 59, can be in carrying and insert before the state of the combustor component of mechanism hand 56 clampings is remained on the central shaft facing to robot body 53.The spring performance of restoring mechanism 59 as long as leave special position slightly, promptly produces the restoring force that resets as shown in figure 17, will be stabilized in this special position when above being no more than a certain certain force, therefore can carry safely under no swing state.Owing to can adjust the precompression length that bolt changes positive and negative spring 62,63 by rotation spring pressure, therefore can adjust above-mentioned specific power at an easy rate.

When on the combustor component direction of advance of mechanism hand 56 clampings obstacle being arranged, swing arrestment mechanism 67 can make it to swing for avoiding the state of this obstacle, can not brake when the avoiding obstacles process is not wanted to swing, and so just can carry safely.

In the inboard mechanism hand 115 of Figure 18, inboard manipulator joint 115a can freely turn round around the root of inboard mechanism hand 115, it is the live axle of the pawl 115c of inboard mechanism hand that the joint drives brake axle 115b, as live axle 115b during to pawl 115c configuration lateral movement, the live axle joint 115d that the joint drives brake axle 115b be in inboard manipulator joint 115a consistent location on, inboard mechanical-stretching drive unit 115e has the function of the inboard manipulator joint 115a of telescopic drive.

Be installed at the auxiliary roller 115f that is made by elastic material on the inboard mechanism hand 115 of Figure 18 on 3 pawl 115c of inboard mechanism hand, its surface of revolution is free to rotate outwardly.

On outside mechanism hand 116, outside manipulator driving device 116b as the drive unit of above-mentioned outside mechanical paw 116a drives its output shaft 116c along mechanism hand central shaft rectilinear direction, the end rotation of outside mechanical paw drive link 116d freely is connected on the output shaft 116c, and the other end then rotates and freely is connected on the pawl 116a.

And on outside mechanism hand 116, auxiliary roller 116e is installed in the top of outside mechanical paw 116a, and can freely rotate.

In addition, because during as connecting rod 72a, the 72b of the linkage mechanism 72 of parallel rod and 72c swing, combustor component keeps its original state to do parallel moving, thereby can contain the combustor component holding position of mechanism hand 56 and the longitudinal error between the combustor component turbine mounting point.

Owing to always point to reference point 74 before the combustor component as connecting rod 73a, the 73b of the linkage mechanism 73 of trapezoidal connecting rod, 73c from mechanism hand 56, so mechanism hand 56 is instantaneous swing the on the mechanics with reference point 74.And because the swing of mechanism hand 56 can change the state of the combustor component of swing, thereby can contain the error of spatiality (inclination angle) between the position of mechanism hand 56 clamping combustor components and the combustor component turbo machine mounting point.

Combustor component shows the motion that seems by being drawn from reference point 74 invisible ropes like this, therefore, by this reference point 74 being arranged on top, then can stably insert certain insertion of determining position operation such as the insertion portion of combustor component.

When connecting rod 73a, 73b, 73c point to linkage mechanism 73 swings of reference point 74 directions, because the weight of the combustor component that supports will produce moment of torsion in each connecting rod.At this moment owing in a connecting rod 73c, be provided with turning axle 75, allow to bear torsion, so can not be subjected to unaffordable power in the linkage mechanism 73.

In addition, in the linkage mechanism 72 as parallel rod, two connecting rod 72a and 72b be as one group, and axis of pitch 80 and 84,82 and 86 connects axle 88,89 when all being the arranged coaxial state respectively; And above-mentioned connecting rod 72a, 72b can only move at parastate.Therefore, adopt the mechanism hand 56 of this linkage mechanism 57 supportings not rotate with respect to mechanism hand assembly 55, then the combustor component of mechanism hand 56 clampings is not done to extract the rotation that direction is an axle (column direction), so the relative robot body 53 of combustor component is stabilized in specific rotary position, nonvoluntary change.

Originally, linkage 72 was not allow with such axle span rotating (column direction), but because the distance between shafts of general part is short, just can bear very big power with this.The axle 88,89 that connects connecting rod 72a, 72b has strengthened the intensity of reversing (column direction) of linkage mechanism 57, has improved torsional stiffness.This situation also basic identical in linkage mechanism 73 (not drawing among the figure).

As shown in figure 11, balanced connecting rod 94a is as weight bean, support with fulcrum 93a, the weight of counterweight 95a (force) and the weight balancing that hangs over point of action 92a, and in Figure 12, balanced connecting rod 94b is as weight bean, the weight weight balancing relevant by fulcrum 93b supporting counterweight 95b (force) with point of action 92b, therefore, linkage mechanism can average out under the state of mechanism hand 56 clamping combustor components, can be with unsettled state plug combustor component.Certainly, equilibrant than aspect, according to lever principle, the mutual edge distance mutually of point of action 92a, 92b and fulcrum 93a, 93b is short more, then counterweight 95a, 95b just can do gently, more little more.

In the present embodiment, because be that order according to mechanism hand assembly 55, linkage mechanism 72, middle assembly 58 (comprise Figure 11, Figure 12 balanced controls 90,91 all), linkage mechanism 73, mechanism hand 56 and burner part is connected in series, so the weight that is added to Figure 11 point of action 92a is linkage mechanism 72 a part of weight and the weight sum from middle assembly 58 to combustor component.In addition, because linkage mechanism 73 is a part of weight of supporting mechanism hand 56 and combustor component at the image point of reference point 74, so the weight that is added in Figure 12 point of action 92b is the residuals weight of mechanism hand 56 and combustor component.

If robot body 53 is displaced on the annular orbit 9 along the gas turbine circumferencial direction, the direction that is added in the weight of point of action 92b so changes corresponding gravitational direction.Because the tie point (fulcrum that these balanced controls are 3, point of action) be shared, so, corresponding on the gas turbine circumferencial direction, moving and the variation of the gravitational direction that causes, the direction of the active force that is produced at point of action 92b by counterweight 95b (force) also can change.Therefore, even change, still can guarantee the balance of balanced controls at the mobile gravitational direction that causes of gas turbine circumferencial direction.

In addition, as shown in Figure 12, because equilibrant changes the equilibrant ratio of balanced connecting rod 94b and can change the power that is added on the point of action 92b than controlling mechanism 97, so, adjusted balance by the weight (Whand) of the mechanism hand 56 that does not contain combustor component before mechanism hand 56 clamping combustor components, then the total weight (Whand+Wwrok) by the combustor component of mechanism hand and clamping is adjusted balance when clamping has combustor component.

Specifically, in Figure 11, equilibrant is subjected to the reaction force that is produced by the tooth bar 96b on the balanced connecting rod 94a and with small gear 96a counterweight (force) 95a is moved than controlling mechanism 96.And in Figure 12, equilibrant is to drive ball nut 97b by the driving source that is assemblied on the balanced connecting rod 94b with ball screw 97a than controlling mechanism 97, allows transportable support fulcrum 93 move with linear guides 98a, 98b, 98c.

Because linear guides 98a, 98b can make fulcrum 93b move, so, whole when mobile when linkage mechanism 73, owing to can following moving of point of action 92b closely, geometry site balanced connecting rod 94b moves the error in absorbing mechanism under the situation that does not change former balance state.

In addition, as shown in figure 13, because there is the lubber-line (groove) 99 of error absorption function to have the function of absorption equilibrium connecting rod 94b gemoetric error, so, when linkage mechanism 73 swings, can be to the unsuitable external force of reversing of balanced connecting rod 94b affix.

Have again, as shown in Figure 9, because can making mechanism hand 56 extract direction around insertion, swirl gear 111 is axle rotation (column direction), so, when the hole of clamping bolt and bolt outside thread depart from when fastening combustor component, or when inserting combustor component, must make combustor component rotate (column direction) time, can rotate the combustor component of clamping because of the restriction of shape in the mechanism of the restriction in space or institute's insertion portion.Above-mentioned mechanism hand body 56b is supported on the mechanism hand floating bearing 112, and free to rotate, and the logical moving driving source institute of the rotation of this mechanism hand body 56 driven mechanical hand revolution small gear 113 drives tooth sector 114 and realizes.

When the inboard mechanism hand 115 of Figure 18 hindered the action of outside mechanism hand 116, inboard mechanism hand retractable driving device 115e made inboard mechanism hand shrink or swing with respect to inboard manipulator joint 115a.At this moment, because of mechanism hand need not be positioned at the side of idle paw 115c, so the live axle joint 115d that the joint drives brake axle 115b is positioned at the corresponding to position with inboard manipulator joint 115a, this inboard manipulator joint 115a can be crooked.And when the inboard manipulator joint 115a of stretching, extension used mechanical paw 115c, the joint drove brake axle 115b rigidity and inserts inboard manipulator joint 115a, and this joint 115a linear state is fixed.

On the inboard mechanism hand 115 of Figure 18, the auxiliary roller 115f that is made of the elastomer that is installed on 3 pawl 115c of inboard mechanism hand is by medial support hollow combustor component (combustion liner, the burner outer cover) time, can mildly contact with inner face, when on mechanism hand, loading and unloading combustor component, even if parts and mechanism hand have friction, also can insert smoothly and extract.

On the outside of Fig. 18 mechanism hand 116, the outside manipulator driving device 116b relevant with the drive unit of outside mechanical paw 116a is Pneumatic actuator, and its output terminal 116c can be driven by the required power of deciding.Outside mechanical paw drive link 116d between this output terminal 116c and the pawl 116a is in different angular orientations because of the position of pawl 116a clamping combustor component is different, so its chucking power is also different.Utilize this characteristic, its angle is different because of parts during as mechanical paw 116a clamping combustor component, and different holding positions is set respectively on each parts, to set the chucking power corresponding to different component weight.

In the outside mechanism hand 116 of Figure 18, when outside mechanical paw 116a is delivered to the retaining part of parts,, also can rotate auxiliary roller 116e and insert smoothly and extract even if parts and mechanism hand have friction.Particularly, when if outside manipulator driving device 116b is Pneumatic actuator, because of pawl 116 can not on the way stop exactly, so, also can open or close pawl 116a with this auxiliary roller 116e as guide rail in the limit, the auxiliary retaining part of delivering to parts in 116e that rolls is rotated on the limit.

Also have, because linkage mechanism 72 allows that the combustor component holding position of mechanism hand 56 and the turbine mounting point of combustor component have dislocation error, so, even robot body 53 does not have enough accuracy mechanically can carry out operation easily yet.

Because linkage mechanism 73 is allowed the error on turbine mounting point (pitch, the row) direction of mechanism hand 56 combustor component holding positions and combustor component, so, even there is not the enough accuracy in the mechanism can easily carry out operation on the robot body 53 yet.

The turning axle that is arranged on the connecting rod 73C of redundancy structure on the mechanics can absorb the moment of torsion that is born because of it, and not to the additional inappropriate external force of linkage mechanism, so but the life-span of assurance mechanism.

Also have, because link the combustor component rotation (laterally) that the axle 88,89 of connecting rod 72a, 72b does not make clamping, so, can there be safe transport unsteadily.In addition, because this axle 88 ..., 89 can not make the shared swing axis of linkage mechanism 57 be subjected to excessive power and antitorque (laterally) intensity of reinforced company's linkage 57, so but the life-span of assurance mechanism.

Because balanced connecting rod 94a, 94b as weight bean keep balance under the state of clamping combustor component, combustor component can be pulled out insertion as the state that swims in the space, so, can allow combustor component move simply by staff, make the plug operation become easy.

And then, because mechanism hand 56 clamping combustor components are preceding and do not comprise that the weight (Whand) of the mechanism hand of combustor component balances each other, and the total weight (Whand+Wwork) of using the combustor component of mechanism hand 56 and clamping when the clamping combustor component is adjusted balance, so, mechanism hand 56 is no matter whether the clamping combustor component all is in a kind of showy state, old friend's hand is operated easily, and operation (determine the position, insert to extract etc.) becomes simple.

In addition,, the lubber-line (groove) 99 that the absorption errors function is arranged is not balanced inappropriate external force that connecting rod 94 reverses and so on, so life-span that can assurance mechanism because of can not adding.

During phase deviation, because can rotate the combustor component of clamping, the prudent parts of handgrip of must not choosing are so more easily determine the operation of position between fastening combustor component generation fastening screw keyhole and bolt for swirl gear 111.In addition, when the plug combustor component needs the rotation of combustor component, because of mechanism hand 56 can rotate the combustor component of clamping, so, insert and extract operation and also carry out easily.

Also have, when inboard mechanism hand 115 hinders the action of outside mechanism hand 116, inboard mechanism hand 115 is kept out of the way because of bending curved inboard manipulator joint 115a.So, can increase can clamping with a mechanism hand 56 variety of components, thereby reduced the troublesome operation that exchanges mechanism hand 56 and so on midway.In addition, it is fixed under the linear state,, is easy to holding element so can carry out the accurate location positioning of inboard mechanism hand 115 because stretch inboard manipulator joint 115a.

On inboard mechanism hand 115, because auxiliary roller 115f can mildly contact inner face from the medial support combustor component time, so also can not cause damage at combustor component internal implementation such as TBC (heat treatment layer, coating, coating).In addition, even if because of loading and unloading on mechanism hand during combustor component parts and mechanism hand have friction also can insert smoothly to extract by auxilliary roller 115f, so can not add inappropriate external force to part, the extension that also carries out crane easily hangs operation.

On outside mechanism hand 116, by adopting outside mechanical paw drive link 116d, with the clamping part that a plurality of pawl 116a are set, even if outside manipulator driving device 116b controls the chucking power that simple Pneumatic actuator also can be provided with corresponding component weight,, uses by mechanism hand 56 so becoming light and be easy to.

In addition, on outside mechanism hand 116, even outside manipulator driving device 116 is Pneumatic actuator, because of allowing auxiliary roller 116e auxiliary roller 116e rotate and send into the retaining part of parts as Open and close claw 116a limit, guide rail limit, so increased the kind of parts that can clamping, can also reduce to exchange the trouble that mechanism hand 56 brings midway.

Present embodiment is a kind of as follows form, promptly in the linkage mechanism 57 of the foregoing description, to be arranged on the middle assembly department 58, supported mechanical hand 56 and be the length of connecting rod 73a, 73b, 73c of the linkage mechanism 73 of trapezoidal connecting rod state and the Support Position is made adjustablely and then can be adjusted position towards the reference point 74 of these connecting rods 73a, 73b, 73c.

Figure 19 is the structural drawing of the regulating mechanism of linkage mechanism 73 and its length of connecting rod of expression and link supports position, and Figure 20 then is the pattern explanatory drawing of the adjustment of explanation reference point 74.

As shown in figure 19, in the linkage mechanism 73 of present embodiment, as being the reference point location regulating device 120 of adjustment towards the reference point location of each connecting rod 73a, 73b of this linkage mechanism 73, it has axle position regulating mechanism 120a, the 120b of adjustment interlinking lever end axle position and the length of connecting rod controlling mechanism 120C of adjusting length of connecting rod.

I axle position regulating mechanism 120a is arranged on connecting rod 73a, the 73b (referring to Figure 10) in groups, and links to each other with axle.At axle 88 two ends of middle assembly 58 1 side ends that connect connecting rod 73a, 73b, be formed with screw 121a, the 121a of reverse thread, these screws 121a, 121a screw with nut 122a, 122a respectively.40, the 41st, the bearing at back shaft 88 two ends.Nut 122a, 122a are connected on connecting rod 73a, the 73b by intersection pin 42,43 free to rotately.And, end at the axle 88 that forms screw 121a, 121a is connected with the motor 131 that rotation drives usefulness, drive and rotate and have screw 121a, the 121a of reverse thread by this motor 131, move thereby make each nut 122a, 122a and go up in the direction that the space is enlarged or the direction (arrow a direction) that narrows down together with connecting rod 73a, the 73b of its one.

In addition, in the end of mechanism hand 56 sides of each connecting rod 73a, 73b and connect on their axle 89 the axle position regulating mechanism is not set, the distance between their ends keeps certain.46,47 then is mechanism hand 56 1 side ends and axle 89 and the intersection pin free to rotate that connects connecting rod 73a, 73b.

In this structure, if as described above, with in the middle of each nut 122a each connecting rod 73a together and the 73b between assembly 58 1 side ends distance enlarge or when dwindling, constant because of distance between mechanism hand 56 1 side ends of each connecting rod 73a, 73b, then cause forming the connecting rod 73a of one group of trapezoidal connecting rod, the angle of 73b changes.

Also have, II axle position regulating mechanism 120b is arranged on another connecting rod 73c that constitutes linkage mechanism 73 and goes up (referring to Figure 10).That is, the end of assembly 58 1 sides is by bearing 30a in the middle of the connecting rod 73c, and 31a and axle 32 form the supporting structure that can swing, and this axle 32 is connected on the nut 122b.On the other hand, the pin 33 that intersects is supported on the middle assembly 58 by bearing 30b, 31b, and free to rotate, forms screw 121b on this intersects pin 33.Screwing aforesaid nut 122b on the screw 121b of this intersection pin 33, the pin 33 that intersects is connected with motor 132 with driving and is done rotation motion by its driving.

By the driving of motor 132, make screw rod 121b rotation, and then drive nut 122b and upward mobile in a certain direction (arrow b direction) with the connecting rod 73c of its one.

On mechanism hand 56 1 side ends of connecting rod 73c and the axle 28 that is attached thereto, the axle position regulating mechanism is not set, promptly makes it to remain on the state of common fixed position.The 29th, connect mechanism hand one side end of connecting rod 73c and the intersection pin of axle 28 free to rotately.

In this structure, if with the mobile together end that adds middle assembly 58 1 sides of bar 73c of nut 122b, and the mechanism hand 56 side end positions of connecting rod 73c do not change, and cause that then the angle of the connecting rod 73c that forms trapezoidal bar linkage structure changes.

The following describes length of connecting rod controlling mechanism 120c.This length of connecting rod controlling mechanism 120c is assembled on the above-mentioned connecting rod 73c.As the explanation in the example II, two-part 73c1 before and after this connecting rod 73 is synthesized in order to absorb moment of torsion, 73c2, its structure combines by running shaft 75.In the present embodiment, be in the while divided into two parts, termination one side of running shaft 75 highlights from connecting rod 73c, and its root one side is supported in the bearing 124 of connecting rod 73c2.And, on this running shaft 75, forming the 123 former whiles of screw, and be provided with to cooperate and be the nut 125 of one with screw 123, this nut 125 and gear 126a connect as one.The driving that this gear 126a go up to be provided with connecting rod 73c is meshed with the gear of motor 132 and also can rotates.

Therefore, if utilize motor 132 drivings and pass through gear 126a, 126b swivel nut 125, then this nut 125 just by with the cooperating of screw rod 123, go up along the length direction (arrow c direction) of connecting rod 73c and to move, by bearing 124, root one side connecting rod 73c2 is close or leave with respect to termination side connecting rod 73c1, the entire length of connecting rod 73c is changed.If utilize such length of connecting rod controlling mechanism 120 to change the length of connecting rod 73c, then with other connecting rod 73a, between the linkage mechanism 73 whole controls of the relevant trapezoidal connecting rod of conduct that constitutes of 73b towards changing.

Figure 20 shows that the driving that utilizes length of connecting rod controlling mechanism 120c changes the situation of reference point 74.In the present embodiment, shown is to utilize the situation of mechanism hand 56 inboard mechanism hand 115 clampings as the spacer shell 6 of gas turbine component.

In Figure 20, the state that begins most be make the connecting rod 73a two ends of linkage mechanism 73 be positioned at shown in the figure (Y, L) position, the two ends of connecting rod 73b are positioned at that (A, N) position, the two ends of connecting rod 73c are positioned at (H, position E).At this moment, formed and utilized each connecting rod 73a, 73b and 73c insert the state of selling on 127 towards reference point 74 being set in spacer shell 6 forward end.

State begins thus, drives i axle position regulating mechanism 120a, such as allowing the end of connecting rod 73a move to (T) position, allows the end of connecting rod 73b move to (I) position and to become the state that enlarges the connecting rod interval.In addition, drive II axle position regulating mechanism 120b, for example, when allowing the end of connecting rod 73c move to (U) position, drive link length adjustment mechanism 120c becomes the state of connecting rod 73c elongation of allowing.

In such event, each connecting rod 73a, 73b, the other end of 73c just moves to (Q) respectively, (W), (O), position, and can make each connecting rod towards central point move to such as the center of gravity 128 of spacer shell 6 from reference point 74.

Utilize present embodiment, by reference point location regulating device 120, just can be the connecting rod 73a of linkage mechanism, the position of the reference point 74 that 73b and 73c face toward is adjusted to the front end of combustor component, is inserted any places such as embedding part and center of gravity.

Owing to can be reference point 74 according to the kind mobile status fine setting center of job content and combustor component, for example when carrying weight, the state fine setting is the center with the center of gravity 128 of part, then can adjust state easily, then can be that reduce because of the chimeric collision that causes at center (being the front end that inserts pin 127 in Figure 20) with the telescoping part when part is chimeric, carry out the component transfer of the optimum state.

Embodiment 4 (Figure 21,22)

Present embodiment is to replace from embodiment 1 to embodiment that the trapezoidal connecting rod as structural element is a linkage mechanism 73 3, is provided with to make mechanism hand 56 with respect to the guide mechanism of middle assembly 58 along the orbiting motion of sphere.

Figure 22 is the infrastructure mode schematic representation of this guide mechanism 130 of expression.This guide mechanism is by constituting with lower member: sliding 132, be connected integrally by connected element 133 that this I slides on 132 and have with the axis 02 with above-mentioned axis 01 quadrature along the I that is the circular-arc I guide rail 131 of the barrel surface configuration at center with axis 101, moves along this guide rail 131 is the II guide element 135 of barrel surface shape guide portion 134 at center and the slide block 136 that moves along the guide portion 134 of this II guide element 135.

In structure shown in Figure 21, I guide rail 131 is provided with 3 guide rail 131a, 131b, and 131c, corresponding with it miscellaneous part also is provided with 3 parts (I slip 132a, 132b, 132c respectively; Connected element 133a, 133b, 133c; II guide element 135a, 135b, 135c with and guide portion 134a, 134b, 134c; II slide block 135a, 136b 136c), has constituted by 3 cover guide element 130a, 130b, the guide mechanism 130 that 130c forms by said structure.

And, at I guide rail 131a, when 131b, 131c respectively are installed on the middle assembly 58, utilizing II slide block 136,136b, 136c are supporting mechanism hand 56.

Therefore, in the present embodiment, constitute the guide mechanism 130 that carries out two independent, direction guiding by I II guide element 131,135, with near axis 01,02 as reference point 137 and form the state that mechanism hand 56 can be swung.Also have, though in the guide mechanism 130 of present embodiment, be provided with 3 cover guide element 130a, 130b, 130c may not be necessarily like this, if allow on the intensity cover also can, the guide rail number is provided with restriction.Guide mechanism 130 for example shown in Figure 22 is exactly by having two cover guide element 130a, the mechanism that 130b constituted.Because the structure of the guide mechanism shown in Figure 22 130 much the same with shown in Figure 21, so the same symbol of the same Figure 21 that adds at counterpart and omit explanation.

Because according to present embodiment, two directions are I II guide element 131 (131a independently, 131b, 131c), 135 (135a, 135b, 135c) respectively with reference point 137, by near axis 01,02 is center configuration, so mechanism hand 56 is shown reference point 137 greatly and is the geometrical center swing, by the swing of this mechanism hand 56, can adjust to seize the state of parts on both sides by the arms.

In addition, compare present embodiment and aforementioned linkage, even action relatively can not make reference point (inching center) depart from yet.Also have,, can reduce component number by adopting the big made guide element 131,135 of intensity etc., thus realize as the guide rail attachment face as certain reduction structure at a place etc.The structure of this form of implementation is particularly suitable for utilizing as the clamping apparatus of simply seizing frame etc. on both sides by the arms.

But linkage mechanism also has the characteristics that are worth proposition.For example, when adopting linkage mechanism, with the space of opening wide connecting rod is equipped with just towards reference point location, the reference point location adjustment of being narrated in the foregoing description 2 is feasible, in addition the advantages such as machining accuracy that the connecting rod attachment face need not be high in addition.

Embodiment 5 (Figure 23,24)

Present embodiment is a kind of improvement modification of above-mentioned restoring mechanism 59.Figure 23 is the sectional drawing that this repeating work 59 of expression constitutes, and Figure 24 is its performance chart of expression.Figure 23 be the expression this recovery machine present embodiment restoring mechanism 59 as shown in figure 23, relatively dispose forward spring 62 and the backspring 63 that constitutes by helical spring mutually between clamshell 59a and the axle 59b, and respectively by forward spring 62 bigger diameter end 70 (right of Figure 23) from clamshell 59a extrusion axis 59b on postive direction, inner face middle position from clamshell 59a on backspring 63 opposite directions is provided with spring positive stop 64, behind forward spring 62 and backspring 63 these positive stops 64 of overlap joint, the pressure that adds to a 59b is just ineffective.Also have, screwing togather spring pressure on the two end part in clamshell 59a and adjusting bolt 65,66.Adjust the situation that screws togather of 65,66 couples of clamshell 59a of bolt by changing these spring pressures, can adjust the pressure of each spring 62,63.

In addition, restoring mechanism 59 has reposition moving mechanism 140.This reposition moving mechanism 140 has the straight line motion actuation gear 141 of the extending portion that is inserted into clamshell 59a and with 141 engagements of this straight line motion actuation gear and rotate and can make this straight line motion actuation gear 141 do the worm screw 142 that micro-straight line moves with moving freely vertically.Worm screw 142 is supported on by bearing means 143 on the outside of clamshell 59a, and the axle 144 of this worm screw 142 is connected on the output shaft 147 of drive motor 146 by shaft coupling the 145th.

Also the same in the present embodiment with the embodiment 2 shown in Figure 16, be provided with can lock shaft 59b brake member 69.Be connected in middle assembly 58 1 sides as axle 59b, straight line motion actuation gear 141 is connected on the mechanism hand assembly 55.

In the restoring mechanism 59 of structure like this, drive by motor 146, can allow straight line motion actuation gear 141 do relative straight line by worm screw 142 and move with respect to clamshell 59a.At this moment, because of straight line motion actuation gear 141 is fastened on mechanism hand assembly 55 1 sides, so, if straight line motion actuation gear 141 moves a certain distance on negative direction (left of Figure 23 to), then by bearing means 143, in fact clamshell 59c produces on 3 postive directions (right of Figure 23) and moves.Because the mobile spring pressure that causes of this clamshell 59a is adjusted bolt 65, the position of the yellow positive stop 64 of 66 position and bullet moves up in pros, so the certain force as recuperability affacts in the process of forward spring 62 and backspring 63, the position that middle assembly 58 stops, with above-mentioned, the situation of form of implementation 2 is compared and is in postive direction one side (right side) as shown in figure 24.

Restoring mechanism in the middle of the restoring mechanism 59 of present embodiment also connects applicable to conduct between assembly 58 and the mechanism hand 56.

Therefore, according to present embodiment, by means of allowing straight line motion actuation gear 141 pass in and out the action of watch glasses 59a, can use its power to carry out handle by the position of the combustor component of the clamping of mechanism hand 56 and the inching that state reverts to certain location and state thereof thereof, can alleviate the needed strength of inching thereupon, remote-controlled operation is become carried out easily.

And, even in the present embodiment, each spring 62, the point of action of 63 elastic forces is locational at the spring postioning abutment 64 of centre also, therefore, the restoring mechanism 59 of present embodiment is disposed at respectively between mechanism hand assembly 55, middle assembly 58 and the mechanism hand 56, because as the coupled in series state, can leave Telescopic, as under occasions such as gas turbine body housing 8 one sides nurse combustor component front end position point, the micromotion function that can not lose its other side's one side position of simulation.

Embodiment 6 (Figure 25-Figure 35)

Present embodiment is to decompose the annular orbit structure of assembling device and mobile driver part example of structure mounted thereto about gas turbine of the present invention.

At first, according to Figure 25 and Figure 26 annular orbit 9 and and the guide structure of motion driver part are described.Shown in Figure 25 is the appearance of the annular orbit 9 seen from above, and Figure 26 is then for from observing the situation of same annular orbit 9 down.

Shown in above-mentioned 2 figure, annular orbit 9 be one big circular-arc be configured in gas turbine body housing 8 (with reference to Fig. 8) around.Fixing and its guide rail 150 in the side of annular orbit with diameter.Certainly, this guide rail 150 both can be made a unitary construction together with annular orbit 9, also can according to circumstances dispense.

At the outer circumferential side of annular orbit 9, fixing chain 151 as the rotation guide element of above-mentioned framework 54.These chain 151 usefulness chain pins 153 link a plurality of chain sections and constitute.Among this each chain pin 153, be provided with and on the chain length direction, dispose at regular intervals and the long-chain pin 153a longer than the width of chain section 152.The two ends of this long-chain pin 153a are projected into two outsides as the link rod plate 152a of chain section.

On the other hand, on two outsides of chain 151, dispose limiting stopper 154, this limiting stopper 154 inserts the periphery that pin 156 instruments such as stop such as grade equally spaced are fixed on annular orbit 9 by bolt 155.On a plurality of mounting holes 157 that form abreast with this limiting stopper 154, be inserted with the termination of reel chain pin 153a respectively, and by chucking such as cotter pin 158, chain 51 is fixed on the annular orbit 9 thus.Formed insertion chain pin 135a uses on limiting stopper 154 mounting hole 157 is rounded or as with such slotted hole shown in the symbol 157a.

According to said structure, be fixed on the two end part of the chain 151 on the periphery of annular orbit 9, such as shown in figure 26, be respectively arranged with screw rod 159, utilize pull bar screw 160 connecting these screw rods 159.And then rotating tension bar screw 160 to the two ends of arrow A direction tension chain 151, makes chain 151 be adjacent to ring-type road 9 and being fixed often by the distance of dwindling chain 151 two ends.

At the ring-type limiting stopper 154 by having circular mounting hole 157 on the road 9 often, fixing such as place, chain length direction intermediate portion, the limiting stopper 154 that while chain 151 usefulness have the mounting hole 157 that is made into slotted hole 157a is equally spaced supporting from the centre to two ends with chain 151.So, the two ends of supporting long-chain pin 153a and annular orbit 9 peripheries around on behind the circle, the two ends of chain 151 closely are fixed on the periphery of annular orbit 9 because of 160 tensions of pull bar screw engage.

According to as Figure 25 and structure shown in Figure 26,, but, all come off so prevented chain 151 because of the limiting stopper 154 that equally spaced disposes on the annular orbit has played limiter even chain 151 is local a cut-out quickly.Such way is very favourable on the angle of safety.For example, when attaching/detaching apparatus 51 along annular orbit 9 in the way of as the back is said, being moved by chain 151 guiding, even if run into the disrumpent feelings situation of chain 151, also can prevent coming off of this attaching/detaching apparatus 10.

In addition, resist at annular orbit 9, when damaged, or change in the situation such as aged chain 151 parts, even if need disassemble chain 151, also can allow chain 151 integral body relax by rotary manipulation pull bar screw 160, and can be only and a part from chain 151.And, because of being in the state that is supported by limiting stopper 154, other parts of separated chain 151 can stay on the annular orbit 9, so, when joining school chain 151 once more, just need not so heavy weight chain 151 integral body are spread volume again on annular orbit 9, can save labour and time.

Below, according to the attaching/detaching apparatus 10 of power 27-Figure 29, describe with regard to the mobile driver part 54a of its framework 54 and the cooperating structure of chain 151 on annular orbit 9, moving.Figure 27 is the outer circumferential side of never shape track 9, the generalized section of the mobile driver part 54a of surface one side of chain 151 just, Figure 28 and Figure 29 then be respectively along the B-B of Figure 27 and and the sectional view of C-C face.As Figure 27-as shown in Figure 29, mobile driver part 54a a kind ofly has along the structure of a plurality of sprocket wheels of the length direction configuration of chain 151.

Be assembled with motor 161 on attaching/detaching apparatus 10, be connected with I sprocket wheel 162 by attenuator 161a on the running shaft of this motor 161, the crown of this I sprocket wheel 162 and chain 151 are meshing.Running shaft forward end at this I sprocket wheel 162 integrally is connected with I interlock sprocket wheel 163, and the front end of the running shaft 163a of this I interlock sprocket wheel 163 is fixed on the moving member housing 10a of attaching/detaching apparatus 10 by bearing 164.Also have, be provided with break not shown in the figures, can allow motor 161 stop operating and keep its state by starting this break in motor 161 inside.

In addition, with the running shaft 163a of I sprocket wheel 162 and I interlock sprocket wheel 163 parallel dispose driven shaft 165, the two ends of this driven shaft 165 are assembled on the moving member housing 10a of attaching/detaching apparatus 10 by pair of bearings 166,167.Integrally be connected with the II interlock sprocket wheel 168 of chain 151 engagement on this driven shaft 165 and make II interlock sprocket wheel 169 with I interlock sprocket wheel 163 same shapes, this II interlock sprocket wheel 169 usefulness interlock chain 170 rotates with I interlock sprocket wheel 163 constant speed that links also.

Also have, the tooth of relative I sprocket wheel 162, the tooth of II sprocket wheel 168 be arranged as the configuration of staggering half pitch rotation position phase.

According to such structure, I sprocket wheel 162 and II sprocket wheel 168 are engaged on the chain 151, and mobile driver part 54a moves around gas turbine along annular orbit 9, and then attaching/detaching apparatus is swung thereupon.

In these cases, because at two sprocket wheels 162, what give mutually on 168 is the torque and the rotational speed of same degree, so, can disperse to add to the burden of the chain 151 of spooling on the periphery of annular orbit 9, alleviate the degree of fatigue of chain 151, and can prevent to be to help safe structure because of chain disconnects coming off of the attaching/detaching apparatus 10 cause.

In addition, owing to be the structure that is meshed with chain 151 with two positions, so no matter be that near which side sprocket wheel 162 (168) chains 151 disconnect, because of the opposing party's sprocket wheel 168 (162) and chain 151 is meshed, limiting stopper 154 is supporting chain regularly and is wanting 151 in addition, so the accident that attaching/detaching apparatus 10 falls down can not take place.

; when the moment of same II sprocket wheel 168 engagement chains 151 of the moment of I sprocket wheel 162 engagement chains 151 is identical; sprocket tooth and chain 153 impact force that is produced that is meshed will be multiplied, and not have what difference when only using a slice sprocket wheel and cause its collision to be rocked.But, in the present embodiment,, dispose I sprocket wheel 162 and II sprocket wheel 168 by the half pitch rotation phase difference that has that the front was said for the arrangement of sprocket tooth, can disperse to add to the impact force of chain 151, prolong the life-span of chain 151.

Also have, rock for collision, because before the tooth of a certain side's sprocket wheel 162 (168) leaves chain 151, the tooth of the opposing party's sprocket wheel 168 (162) has begun the engaging-in bar of nibbling, so, can always keep chain 151 and sprocket wheel 162,168 to be in contact condition, can demonstrate,prove attaching/detaching apparatus 10 and move reposefully, so can make attaching/detaching apparatus 10 move to the attaching/detaching apparatus place of burner 2 accurately and make it static.

In addition, in order to make two running shaft 163a, the interlock chain 170 that the rotation of 165 uniform velocity also can replace the front to say with gear.Other has, and also can use gear, chain etc. to transmit the driving force of motor 161.Have again, can also be on the periphery of shape track 9 not formative gear to replace chain 151 and sprocket wheel 12,168, allow the gear of attaching/detaching apparatus 10 be engaged with and move.

Below, according to Figure 30-Figure 36 the supporting structure that the framework 54 of attaching/detaching apparatus 10 is installed on annular orbit 9 is described.Figure 30 is the side about supporting structure, and for representing the schematic perspective view of its outward appearance, Figure 31 is that expression in detail is with the sectional drawing of part-structure.Figure 32 31 wants the enlarged view of portion, and Figure 33 is the sectional drawing of expression operating principle.

As shown in these figures, in this example, it is on the guide pad 171 that the framework 54 that moves on annular orbit 9 is installed in as the guide element of being guided by this annular orbit 9.With respect to this guide pad 171, the mounting portion of framework 54 is fixed by the fastening piece of a plurality of bolts 172 and so on, on fastening position, be provided with elastic element when admitting of the spring that contrary fastening direction moves, so that this position has certain counter-force by these fastening piece effects.

As Figure 30 and as shown in Figure 31, with respect to the guide rail 150 that is installed on the annular orbit 9, meshing the guide pad 171 of section such as L font.The flange 54b of framework 54 is installed with jointing state on this guide pad 171.In the central underpart of flange 54b, form outstanding pin 174 downwards, on guide pad 171, under the state of pin head 174 patchholes 175, combine on the other hand by bolt 172.

Figure 32 is the amplification profile of these bolt 172 surrounding structures.Bolt 172 has by path end 172a and the 172b of bigger diameter end portion reducing step-like structure, and the outside thread 172 that forms on the path end screws on the internal thread 177 of guide pad 171.Be formed with hole, big footpath 178 on the flange 54b of framework 54, the bigger diameter end of bolt 172 is read 172b and was connected this hole 178, big footpath with a gap, and the 172b of bigger diameter end portion of bolt 172 connected in this hole 178, big footpath with a gap.

And, between the head 172c and flange 56b of bolt 172, disposing a plurality of butterfly springs 173 as fastening piece, butterfly spring 173 is squeezed on the flange 54b by the head 172c of spiral shell 172 compression.Therefore, framework 54 and ground are to obtain fastening force by the reaction force that compressed butterfly spring 173 produces to piece 171.

Shown in Figure 33 is in said structure, and when attaching/detaching apparatus 10 had been added excessive power, frame added 54 and the sectional drawing of the binding site effect of guide pad 171.Attaching/detaching apparatus 10 as shown in Fig. 8 waits like that, owing to be to be displaced on a plurality of annular orbits 9, so when the dislocation of the central position of each annular orbit 9, or on the guide rail 150 convex-concave is arranged and during bending, framework 54 will tilt brokenly, and the binding site place of final attaching/detaching apparatus 10 relatively and guide pad 171 forms big bending moment M.Because framework 54 and guide pad 171, butterfly spring 173 utilize the reaction force of the degree that is compressed to combine, so, any variation does not take place when applying the power of the reaction force that is lower than butterfly spring 173.But if added the power that surpasses the reaction force of butterfly spring 173, then the butterfly spring is compressed, and the binding site of framework 54 and guide pad 171 leaves about width d and framework 54 run-off the straights.In addition, when after the special-shaped part that attaching/detaching apparatus 10 moved annular orbit 9 waits, entering normal position and moving, because the inclination of framework 54 disappears, so the flange 54b that leaves and the bound fraction of guide pad 171 restore, because pin 174 is embedded hole 175 once more, so in the chimeric error in pin head 174 and hole 175, the position of attaching/detaching apparatus 10 and guide pad 171 relation returns to the state when initial.

According to said structure, even if a plurality of set annular orbit 9 occurrence positions depart from, perhaps cause attaching/detaching apparatus 10 to tilt because of the change in shape of guide rail 150 etc., on the binding site of framework 154 and guide pad 171, applied excessive bending moment M, but because the distortion of butterfly spring 173, attaching/detaching apparatus 10 only takes place, so, the breakage of the guide pad 171 that causes because of excessive bending or guide rail 150 etc. can be prevented.

In addition, when the inclination of attaching/detaching apparatus 10 is reduced, because the pin 174 of framework 54 lower end central authorities embeds in the hole 175 of guide pad 171 once more, the position of framework 54 and guide pad 171 relation does not change, and does not move so can there be the disassembly and assembly of carrying out the combustor component implemented by attaching/detaching apparatus 10 in any obstacle ground.

Also have, what does not produce change because apply the power that is lower than the anti-power of work that is compressed butterfly spring 173, so, there is not the whole phenomenon that unnecessary shaking is taken place and hinder the disassembly and assembly action of combustor component of attaching/detaching apparatus 10 yet.In addition as long as just can determine the binding site of framework 54 and guide pad 171 to pin head 174 patchholes 175, so, attaching/detaching apparatus 10 is installed to becomes very simple on the guide pad 171, can save the labour force and the time of carrying out combustor component dismounting operation.

Figure 34-Figure 36 is the modification legend of the binding site structure of expression attaching/detaching apparatus 10 and guide pad 171.In this embodiment, in centre below the flange 54b of the junction plane framework 54 of attaching/detaching apparatus 10 1 sides, be formed with the taper hole 179 that expands warp downwards.In addition, on guide pad 171 1 side junction planes on the other side, be formed with the taper hole 180 of symmetric shape up and down that is of hole enlargement downwards.And, with the state of being seized on both sides by the arms by two taper holes, 179,180 inboards, the surface of inserting outer circumferential face and two taper holes 179, the 180 big or small ball 181 that contacts.

Butterfly spring 173 is the same with the above-mentioned bolt 172 that is screwed into guide pad 171 by dismounting 10 upsides are fastened on.Nut 183 on the stud bolt 182 of band joint, be compressed in and guide pad 171 between between control on.The flange 54b of framework 54 and guide pad 171 are to be bonded together by the reaction force that butterfly spring 173 is compressed part by nut 183.

According to above-mentioned modified example, same Figure 30-structure shown in Figure 33 is the same, on framework 54, be compressed because of moment M effect butterfly spring 173, after attaching/detaching apparatus 10 tilts, be positioned at two taper holes 179 of attaching/detaching apparatus 10 1 sides and guide pad 171 1 sides at ball 181, in the scope of 180 central position, after attaching/detaching apparatus 10 tilts, be positioned at two taper holes 179 of attaching/detaching apparatus 10 1 sides and guide pad 171 1 sides at ball 181, in the scope of 180 central position, attaching/detaching apparatus 10 and guide pad 171 less dislocation can always keep the position relation of dismantling device 10 and guide pad 171 certain like this.In addition, according to Figure 34-formation shown in Figure 36,, allow the size of the needed moment M of attaching/detaching apparatus 10 inclinations so can freely set by the compressive force one of adjusting butterfly spring 173 because the compression of butterfly spring 2 can utilize the power of tightening nut 183 to adjust.

Therefore, even also can reach the effect same with last structure according to above-mentioned modified example, but also can adjust the decrement of butterfly spring 173, and can not carry out the suitable rigidity of attaching/detaching apparatus 10 yet and set even do not do special transformation, can be with simple structure formation highi degree of accuracy attaching/detaching apparatus 10.

In above embodiment, suitably change position structure that uses ball 181 and the position structure that utilizes pin 174 and hole 175, perhaps by using the method identical with these modes, make to have and always keep the position of attaching/detaching apparatus 10 and guide pad 171 to concern certain structure, and have the structure of utilizing residual elastic force that attaching/detaching apparatus 10 and guide pad 171 are engaged.In addition, also can replace butterfly spring 173 to use helical spring etc.

Embodiment 7 (Figure 37, Figure 38)

Present embodiment is to set up annular orbit 9 in the outer periphery of gas turbine 1 and allow this annular orbit 9 is double does the support that is installed in parts around the gas turbine 1.

Figure 37 is that Figure 38 is that partial portion is placed on sectional drawing among Figure 37 from the seen part sectioned view in gas turbine side.

On a plurality of burners 2 of gas turbine 1, connecting the fuel distribution tube 190 that uses for fueling respectively, this each fuel distribution tube 190 is connected the periphery of coiling gas turbine 1 and disposes on a plurality of fuel distribution tube arms 191, again by there not being illustrated fuel main to accept the supply of fuel.And fuel distribution tube arm 191 supports and is fixed on a plurality of places by the support 192 that is installed on the annular orbit 9.

Figure 38 is the supporting part figure of the fuel distribution tube 191 that is made of this anti-frame 192 that amplifies.As shown in figure 38, the annular support guide rail 193 that section is roughly the T font is installed on the side of annular orbit 9.In addition, as pipe arrangement carriage 194, having front end forms the plate-shaped member 194a of approximate L font and is combined in hook-like assembly unit 194b on the front end of this plate-shaped member 194a, these parts are connected under the state of holding this support guide 193 of dress and T font front end position under the arm and are connected together, and are fixed by bolt 195.The words of holding this bolt because if relax can form the interval of plate-shaped member 194a and hook-like assembly unit 194b, so support 192 can slide along support guide.Also have, the longer position of plate-shaped member 191a extend to the position that joins in interior week of fuel distribution tube arm 191, utilize it and make the gripping members 196 of semi-circular shape, hold under the arm into two fuel distribution tube arms 191 from interior outer circumferential side, and fix with bolt 197.

According to such embodiment, the annular orbit 9 fixed support fuel distribution tube arms 191 that allow attaching/detaching apparatus 10 move by use, the employed fuel distribution tube arm 191 of can omitting is over fixed with structural members such as supports, simultaneously, can be according to the pipe arrangement around the function needs configurations gas turbine 1, realize being suitable for peripheral components integrated of the gas turbine 1 of attaching/detaching apparatus 10.

In addition, because support 192 can be as required slides or fixing along support guide 193, so, can when the following installation of picture fuel distribution tube arm 191, bring into play big effect.For example, after utilizing hoist limit branch to be equipped with support fuel distribution tube arm 191 limit fixed supports 192 on the gas turbine, make it allow fuel distribution tube arm 191 change the below of gas turbine 1 over to by the limit along support guide 193 slip limits, can be difficult to the hook of hoist arrive, the gas turbine below of installation exercise difficulty is provided with fuel distribution tube at an easy rate to manage 191.

Certainly, be not limited only to resemble the top and allow annular orbit 9 fixed support fuel distribution tube arms 191 like this,, during parts such as signal wiring pipe, utilize annular orbit 9 can carry out installation exercise efficiently at the fixing air pipe arrangement of supporting other gas turbine 1 periphery.

Embodiment 8 (Figure 39, Figure 40)

Present embodiment is to have the moving body that can move to each position of gas turbine 1 peripheral part along annular orbit 9, utilizes this moving body can maintain the embodiment of gas turbine component.Shown in Figure 39 is the schematic perspective view of the summary of its structure, and Figure 40 is the critical piece sectional drawing that amplifies.In addition, will utilize technology to describe to the track in the body processes such as framework of pulling down the gas turbine attaching/detaching apparatus by annular orbit 9 in the present embodiment.

As shown in figure 39, the guide pad 171 that moves along annular orbit 9 is provided with maintenance rod 200 cylindraceous.This maintenance rod 200 has rotary block 201 as piece 201,202, one side respectively in two end portions and is connected on the guide pad 171.Suspension bracket 203 and suspension hook 204 are being set respectively on each block 201,202.Suspension bracket 203 is connected on the suspension hook 206 of hoist 205 by rope 207, and on suspension hook 204, by the play part 209 of gas turbine 1 of load rope 208.

Figure 40 has at length represented the linkage structure of above-mentioned maintenance rod 200 and each block 201,202.As shown in figure 40, inlaying rotary sleeve 210, keeping rod 200 to pass this rotary sleeve 210 and cooperation with it in the inboard of each block 201,202.In addition, dispose collar 211a at the two end part of each block 201,202,211b utilizes stop screw 212a, and 212b is fixed on and keeps on the rod 200.Therefore, each block 201,202 can also have keeping rotating of rod 200 on every side, utilizes collar 211a, and 211b keeps it not from keeping rod 200 to break away from.

According to the structure of above-mentioned present embodiment,,, around gas turbine body housing 8, can do circumference and rotate along shape track 9 by tractive with hoist 205 by the maintenance rod 200 that guide pad 171 fixed supports.At this moment, though keep rod 200 because of being the opposite direction state when the upside of gas turbine body housing 8 and the downside up and down, but because block 201,202 is rotary around maintenance rod 200, so, the suspension hook 206 of hoist 205 can keep rod 200 from the top tractive, and part 209 then is hung in the below that keeps rod 200.

Therefore, according to present embodiment, even if gas turbine body housing 8 influence and the below that makes the suspension hook 206 of hoist 205 not reach gas turbine body housing 8, utilize the hoist 205 also can conveyance part 209, do not need shouldering the below that weight is sent to combustion gas wheel body housing 8 by the people as before, can realize alleviating operation, raise the efficiency.

In addition, if relax collar 212a, the stop screw 212a of 212b, 212b, the block 202 of the parts 209 that then play down will can make it along keeping endwisely slipping of rod 200 as usefulness arrow M among Figure 39 is represented, in this sliding scale, can transport parts 209 to arbitrary site.

Have again, though be to keep on the rod 200 the such practice of handling part downwards 209, be not limited to this in the present embodiment, such as, can allow keep rod 200 chucking parts 209, minor crane is arranged on the maintenance rod 200, utilize this method handling also to be fine.

Embodiment 9 (Figure 41, Figure 44)

Present embodiment is a kind of embodiment who is provided with positioning device.Promptly in this embodiment.Promptly in this example, the combustor component holding device that can transmit combustor component in the interval that is separated by with mechanism hand 56, is equipped with, simultaneously, on the annular orbit 9 the combustor component holding device is being located and stopped on the assigned position of the framework 54 on the circumference that is displaced into gas turbine 1, and always in the transmission of carrying out on the assigned position with the combustor component between the mechanism hand 56.

Figure 41 is the integrally-built schematic perspective view of expression present embodiment, and Figure 42 and Figure 43 are the explanatory drawings of expression manner of execution, and Figure 44 is local enlarged diagram.

In the present embodiment, supplying with also with regard to attaching/detaching apparatus 10, the technology of clamping fuel nozzle 3 describes.As showing of Figure 41, above attaching/detaching apparatus 10, be provided with hoist 220, on the suspension hook 222 of this hoist 220, combustor component supplying jig 222 in hanging.Fuel device parts supplying jig 222 has the beam 223 longer slightly than the width of attaching/detaching apparatus 10, at the upside two ends of this beam 223 hanging bolt 224a is installed, and 224b at each hanging bolt 224a, is respectively arranged with hoist cable 225a, 225b on the 224b.

On beam 223 downside two ends, be provided with and be skewed and apart from the big a pair of upside-down triangle shape guide rail 226a of letter gradual change, 226 and be positioned at the pair of columnar pin 227a of these guide rail inboards, 227b towards the below opposing side.At each cylindrical pin 227a, the inboard of 227b sagging respectively suspension hook 228a, two chain sling 229a of 228b, 229b be installed.

On the other hand, a pair of hanging bolt 230a is installed on fuel burner 3,230b, these hanging bolts 230a, 230b be by above-mentioned chain sling 229a, the suspension hook 228a on the 229b, and 228b lets droop and plays.In addition, on the both sides, end on the framework 54 of attaching/detaching apparatus 10, when being provided with V-type guiding groove, also have these V-arrangement guiding grooves 231a, be formed with on each ditch part of 231b and grind mortar shape guiding taper hole 232a, 232b with V-shape ditch.And at guiding taper hole 232a, the centre of 232b is also being opened two hole 233a and 233b.Can inlay and be arranged on the said burner parts supplying jig 222 and towards the cylindrical pin 227a of below, the underpart of 227b.

Figure 42 remains on above-mentioned combustion to produce the combustor component supplying jig 222 of nozzle 3 and be set at state on the attaching/detaching apparatus 10, by the schematic representation of transverse observation.In this Figure 42, towards the cylindrical pin 227a of below, 227b is inserted into the guiding taper hole 232a of attaching/detaching apparatus 10, in the 232b on the combustor component supplying jig 222.Also have, the hanging bolt 230a of burning nozzle 3,230b is provided with in the state Figure 42's, is set on the position of centre of gravity that has with the tilt angle of attaching/detaching apparatus 10 mechanism hands 56 corresponding to 56.

Shown in Figure 43 is to use with above-mentioned much the same combustor component supplying jig 222a, the situation of hanging and above-mentioned different another combustor component spacer shell 6.This spacer shell 6 is by lifting action anchor clamps 234a, and 234b clamps two points at top, front and back, two anchor clamps 234a, and 234b hangs and holds by the burned respectively device parts of hoist cable 235a235b3 supplying jig 222,222a.In addition, be provided with pull bar screw 236 in the intermediate portion of anchor clamps 234a and hoist cable 235a.This pull bar screw can be adjusted the distance of combustor component supplying jig 222a with anchor clamps 234a, thereby is the angular adjustment of spacer shell 6 the α angle the same with fuel burner 3.

Figure 44 is the enlarged diagram of the clamping structure of anchor clamps 234b (234a) clamping spacer shell 6 one ends.These anchor clamps 234b (234a) uses the front end of connecting rod 238 to push spacer shell external wall of upper portion face again with a top wall inner face with jaw 237 support spacer shells 6 one ends simultaneously.That is to say, rhymed formula palace bar 238 is a fulcrum with joint 239, with suspension bracket 240 is a little, deadweight with combustor component is clamped the combustor component end together with jaw 237, if the combustor component end will come off, then the utilization friction allows the front end of connecting rod 238 bend and to the direction motion that sandwiches the combustor component end, can prevent that so just spacer shell 6 falls down from anchor clamps 234b (234a) in the way of attaching/detaching apparatus 10 carryings.

According to said structure, just can utilize combustor component supplying jig 222,222a hanging combustor component and use the top of hoist 220 conveyances to attaching/detaching apparatus 10, by using V- type guiding groove 231a, 231b pilot burner parts supplying jig 222,222a, and simultaneously cylindrical pin 227a, 227b is mounted to guiding taper hole 232a, among the 232b.In addition, combustor component is set on attaching/detaching apparatus 10 supplies with and to hold tool 222 under the arm, 222a, can be always hanging at combustor component supplying jig 222, fuel burner 3 or spacer shell 6 on the lower direction of 222a are positioned on certain position.

Therefore, for make mechanism hand 56 can be always at same position clamping burning nozzle 3 or spacer shell 6, can temporarily be stored in holding position in the control gear of attaching/detaching apparatus 10, after this just automatically clamping fuel burner 3 or spacer shell 6, thus also can reduce the labour force who combustor component is offered attaching/detaching apparatus 10 significantly.

And then, if can allow hoist 220 automatically the worker automatically then can further reduce the labour force and can accurately and promptly offer attaching/detaching apparatus 10 to combustor component.

In addition, though in said structure, the situation that fuel burner 3 and transition big 6 are offered attaching/detaching apparatus 10 is illustrated, but to other combustor component, also can be by the hanging bolt 230a that is provided with on setting and the above-mentioned burning nozzle 3, the hanging bolt that 230b is the same also utilizes combustor component supplying jig 222 to provide it to attaching/detaching apparatus 10.In the time can not hanging bolt being set, can supply with to the anchor clamps the 222a by using as the said burner parts, finish supply work to attaching/detaching apparatus 10.

Embodiment 10 (Figure 45-Figure 47)

In the present embodiment, what replace annular orbit 9 uses is the flange that reaches the outer periphery of gas turbine body casing 8, with this flange in load frame 54, spread all over whole circumference on its side and be provided with direction protrusion numerous and that axle center gas turbine body housing 8 parallels at regular intervals, on framework 54, be installed with and have the gear rotating driving device that is meshed with above-mentioned direction protrusion, this framework can be moved around the gas turbine body housing.

Shown in Figure 45 is the integrally-built front elevation of present embodiment, and Figure 46 is the profile of Figure 45, and shown in Figure 47 is the main position schematic perspective view that amplifies.

In the present embodiment, as Figure 45 and shown in Figure 46, the gas turbine body housing 8a that adjoins each other, 8b respectively with flange 8a1, the 8b1 sideway stance in conjunction with and take turns the parallel a plurality of bolts 251 of bobbin and nut 252 is installed together together by what hit the first-class arranged spaced of direction at circle.The bolt head of this bolt 251 is made drum.

In addition, disposing the flange 8a1 of bolt 251, on the thicker outer peripheral portion of 8b1, be formed with annular slot 253,254 to lateral openings along the periphery of gas turbine body housing 8.

On the circumference moving member 15 of the framework 54 of attaching/detaching apparatus 10, as shown in figure 47, be provided with the direction protrusion that bolt 251 heads constitute and be meshed, and the gear 255 that on the circumferencial direction of gas turbine body housing 8, rotates.This gear 255, by motor driving not shown in the figures and then is also braked by break not shown in the figures by bearings not shown in the figures.

In addition, hit on direction two side positions, be provided with the diameter guide roller 256 littler than the width of groove 253,254 at gear 255 circle, the madial wall of roller face collision slot 253,254, and be arranged on the circumference moving member 15 with the state that is embedded in groove 253,254 inside.

According to said structure, because it is fixing in abutting connection with gas turbine body housing 8a, the flange 8a1 of 8b, 8a2 starts the effect of track, so, in the time of circular trough 253,254 inner faces that are provided with around the gas turbine body housing 8 in guide roller 256 contact, gear 255 is meshing fixedly that the head of the bolt 184 of gas turbine body housing 8 is direction protrusion and rotates.Thus, need not be set to allow the framework 54 of attaching/detaching apparatus 10 around gas turbine body housing 8, move employed special track, also can allow this framework 54 move.

According to present embodiment, owing to can adopt the mobile structure that dispenses attaching/detaching apparatus 10 with track, structure, can reduce whole manufacturing expense significantly, again and, because can not carry out being arranged on gas turbine body housing 8 operation on every side, so can improve the efficient of burner dismounting operation integral body with moving with track.

Embodiment 11 (Figure 48, Figure 49)

Present embodiment is the embodiment that structure is set about annular orbit 9, that is annular orbit 9 usefulness are divided into a plurality of circular-arc track elements link mutually and be configured in structure around the combustion gas wheel body housing 8 with having certain radial clearance.On the circumference of track element, give prominence to a plurality of load-bearing bolts towards central direction, simultaneously, allow a plurality of substrates along the circumferential direction be connected on the outer circumferential face of gas turbine body 8 with interval, and according to the assembly that cooperates with the load-bearing bolt, each substrate is connect on the outer circumferential face of gas turbine body housing 8 by rail unit one side pressure respectively, thereby has also fixed circular guide rail 9.

Figure 48 is the whole front elevation that constitutes of present embodiment, and Figure 49 then is the main body schematic representation that amplify at main position.

In the present embodiment, such as shown in figure 48, annular orbit 9 has the big internal diameter of external diameter of this gas turbine body housing 8.And this annular orbit 9 is installed on the outside of gas turbine body housing 8 by the assembly 260 that is configured in its inboard plurality of positions.

Workpiece is installed as shown in figure 49, is provided with inboard going up and forms the substrate 262 that has a plurality of screw holes on the V-type groove face sent out mutually with the outside of gas turbine body housing 8, the upper surface.Arranged outside at this substrate 262 has the intermediate plate 263 that is fixed by bolts to above it.Form the hole 265 allow bolt 264 pass on intermediate plate 263, for can be at the circumferencial direction of shape track 9 not, that is adjust the position on the arrow J direction of Figure 49, this hole 265 is made into slotted hole.

Except slotted hole 265, also opened screw hole at the number place on the intermediate plate 263, the outside of intermediate plate 253 is provided with the positioning plate 266 of bolt.Can be if the bolt 267 that forms on the positioning plate 266 wears that the hole 268 of human is configured at the fore-and-aft direction of annular orbit 9, also both adjust the slotted hole of position on the arrow K direction of Figure 49.In addition, positioning plate 266 has the length that exceeds intermediate plate 263 and end, substrate 262 front and back on fore-and-aft direction.

In exceeding on the position of end, positioning plate 266 front and back, have a plurality of holes.On this each hole, insert by the inboard of shape track 9 not and extend the stud bolt 269 of coming, tighten with nut 279,271 at positioning plate 266 upper-lower positions, and stud bolt 269 is fixed on the tired surely plate 266.Also have, on the surface of gas turbine body housing 8, the end shape of control substrates 262 draws mark 272 at two positions.

According to said structure, can be in direction all around, promptly on the J direction of Figure 49 and the K direction relatively substrate 262 adjust the positions of positioning plates arbitrarily.Also have, if the nut 270 of downward screwed in place plate 266 upsides and the nut 271 of positioning plate 266 downsides that relax, then can relative positioning plate 266 rising stud bolts 269, perhaps rotating nut 270 and nut 271 in contrast, and allow stud bolt 269 relative positioning plates 266 descend.

In addition, if in several stud bolts 269, allow near the bolt 269 of annular orbit 9 one flank side surface rise, and allow near the stud bolt 269 of opposite sides descend, then can make annular orbit have certain gradient.

According to present embodiment, on a plurality of positions of annular orbit 9 inboards, dispose assembly 260 respectively, and the stud bolt 269 relative positioning plates 266 of each assembly 260 extend to the outside, and absence of collision is tightly supporting reelingly between the outside of the inboard of annular orbit 9 and gas turbine body housing 8, can be fixed on annular orbit 9 on the outside of gas turbine body housing 8 like this.That is to say, need not in order to be provided with on the outside that annular orbit 9 is fixed on gas turbine body housing 8 such as just fixing annular orbit 9 such as flange or bolt hole.Therefore, just can fix the annular orbit 9 of the gas turbine 1 that has set and attaching/detaching apparatus 10 is moved, also need not to carry out transformation, thereby can reduce operating cost significantly new gas turbine body housing 8 for using attaching/detaching apparatus 10.

Also have,,, allow attaching/detaching apparatus 10 move exactly so annular orbit 9 can be set accurately owing to utilize assembly 260 can adjust the position of annular orbit 9.Have again, after taking off annular orbit 9, even will fix once more, also as long as the mark 272 that contrasts on the outer surface that is drawn in gas turbine body housing 8 is provided with substrate 262, just can adjust once again, so saved the labour force the position of annular orbit 9.Female ccontaining doubting can replace drawing mark 272 with the method that the position pin is set on the outer surface of gas turbine body housing 8, it is first-class perhaps substrate 262 subsidiary blocks to be installed in the outer surface of gas turbine body housing 8, all is feasible.

Embodiment 12 (Figure 50,51)

The schematic perspective view of the overall structure pattern of gas turbine attaching/detaching apparatus under the present embodiment shown in Figure 50, Figure 51 then are the stop portion amplification profiles shown in the state section 50.

In the present embodiment, annular orbit 9 along the circumferencial direction of gas turbine 1 is provided with the limit movement parts 280 that are made of projection or groove, and the portable mechanism stopper 281 of these limit movement parts 280 of coming in and going out is installed on the framework 54 as circumference moving member 15.Movable type mechanical hand limit switch 282 is installed, near the position that this switch 282 can detect when being configured in the end of limit movement parts 280 280a arrives in advance on the discrepancy parts of movable type mechanical stopper 281.

In addition, distribution pipe arrangement class 283 is obtained the power and the signal of circumference moving member 15 from the outside, moving region of circumference moving member 15, and the wire way 285 on the outer cover 284 that is suspended in combustion gas wheel 1 is installed at the middle part of this distribution pipe arrangement class 283.Also have, control gear 286 is separately configured on the floor outside the moving region.

And the remaining length in distribution pipe arrangement class 283 spooling combustion gas wheel 1 back is provided to the outside by wire way 285.The number that is provided with the operating operation personnel at the middle part of distribution pipe arrangement class 283 is confirmed switch 287, and its signal is respectively about input control device 286, if the function of prior record operator number is set, then the whole number of serializable input is confirmed switch.

Operating principle to present embodiment describes below.

Movable type mechanical stopper 281 can change movable range, and movable type mechanical hand limit switch 282 has before mechanical stops 281 is collided the end 280a of moving region limit shape stop the function that circle hits moving member 15 on electric hardware.Resemble the gas turbine attaching/detaching apparatus in this wise, can clearly separate the carrying of dismounting operation and part or when mobile, can change the movable range restricted movement regions according to job content.

Though distribution pipe arrangement class 283 influences the motion of circumference moving member 15, but, by utilizing cantilever not shown in the figures that the outer cover 284 of the position of this wire way 285 of suspension from the right is altered on the outer cover on the left side not shown in the figures, can be altered to left demifacet to the round range of movement that hits moving member 15 from right-half plane at an easy rate.

Also have because control gear 286 is on the floor that is configured in outside the moving region, so circumference moving member 15 is lightened, and the guarder can be outside the moving region operating control device 286.The operating personnel can be notified to the guarder to ready information by confirming switch 287 per capita.

When number is confirmed switch 287 parallel inputs, according in advance in storage operation number on the control gear 286, by being confirmed switch 287 report numbers by the number of crossing and its personnel's change procedure being illustrated on the announcer not shown in the figures etc., help the judgement that the guarder carries out the number situation.

In addition, in running, also can the supervision number confirm switch 287, when parallel input, the number of depressing confirms that switch 287 numbers just continue operation when identical with the predetermined persons number, and in the defeated man-hour of serial, then only when the number of pressing is confirmed switch 287, just continue operation, then stop rapidly during disconnection, so that guarantee operating personnel's safety.

According to present embodiment, moving region with movable type mechanical stopper 281 and movable type mechanical hand limit switch 282 restricting meanss, can allow the operating personnel more safely carry out therebetween operation, the guarder can be outside the moving region operating control device 286 safely, confirm that according to number the notice of switch 287 can confirm that the operating personnel all keeps out of the way the safety zone.In addition, aspect operation, if the moving to change and hang wire way 285 and can carry out of distribution pipe arrangement class 283, and circumference moving member 15 becomes light and handy simple to laying also of annular orbit 9 because of separation is provided with control gear 286.

Embodiment 13 (Figure 52, Figure 53)

Being the side signal state section of the gas turbine attaching/detaching apparatus restoring mechanism of present embodiment shown in Figure 52, is performance chart shown in Figure 53.

Like that, above-mentioned restoring mechanism 59 is in clamshell 59a side the position to be installed to be sure of sensor (A) 290 and location confirmation sensor (B) 291 to this example, and the mechanism of sensor block 292 is installed in axle body 596 sides shown in Figure 52.This sensor block 292 has certain-length.Also have, this restoring mechanism 59 has the automatic recovery function that the program by control gear constitutes, and promptly program allows above-mentioned equilibrant than controlling mechanism 97 actions and linkage mechanism 57 is reset on the special position according to the information of location confirmation sensor 290.

In an embodiment of the present invention, when linkage mechanism 57 reset into special position, sensor block 292 was overlapped on location confirmation sensor (A) 290 and the location confirmation sensor (B) 291 simultaneously.

Figure 52 is as initial point, by the on off state schematic representation of the sensor that draws on transverse axis of the relative quantity of clamshell 59a and axle body 59b with this state (reset condition).

If relative quantity δ forward or negative sense change, then Yi Bian location confirmation sensor 290,291 begins to depart from sensor block 292, just can survey the direction that the linkage mechanism 57 shown in publishing picture is toppled over.Control gear is being controlled the position of gas turbine attaching/detaching apparatus because gravitational direction is fully aware of, so can corresponding recovery direction dictates equilibrant than the state of equilibrium of controlling mechanism 97 or increase the weight of or lighten.When slowly changing and reset into special position, state of equilibrium just stops.

Therefore, according to this example, by examining the then toppling direction of linkage mechanism, can not need operator do special operation just can be automatically with balance.

Claims (42)

1, a kind of attaching/detaching apparatus of gas turbine burner has:

Gas turbine burner parts clamping manipulator;

The plug movable part that supports above-mentioned mechanism hand and it is moved with respect to the burner central axes; With

Above-mentioned plug movable part remained on the holding member in the housing that constitutes gas turbine outside parts;

Above-mentioned holding member comprises: circular guide rail has a plurality of supporting elements that set along gas turbine shell circumferencial direction; And moving member, support above-mentioned plug movable part, and move at the gas turbine circumferencial direction along above-mentioned supporting element, make above-mentioned mechanism hand move along this circumferencial direction.

2, attaching/detaching apparatus according to claim 1 is characterized in that:

Above-mentioned mechanism hand is made of inboard mechanism hand and outside mechanism hand, and wherein inboard mechanism hand is by stretching into the gas turbine enclosure, but the rod member of free bend and the holding element that is provided in above-mentioned Rod end form; Outside mechanism hand is formed by holding element, and this holding element is located at the inboard mechanism hand outside with respect to the central shaft of rod member.

3. attaching/detaching apparatus according to claim 2 is characterized in that:

Above-mentioned inboard mechanism hand has: a gripper; And has rotating inboard manipulator joint at above-mentioned inboard mechanism hand root; Drive stationary axle, drive above-mentioned inboard mechanical paw, and when live axle moves to a side of using mechanism hand, fixing above-mentioned inboard manipulator joint; With the inboard mechanism hand extension means that stretches and be connected described inboard manipulator joint.

4, attaching/detaching apparatus according to claim 2 is characterized in that: the pawl of described inboard mechanism hand has a rotating auxiliary roller that is made of elastomer.

5, attaching/detaching apparatus according to claim 2, it is characterized in that: described outside mechanism hand has mechanical paw, it is provided with a drive unit, and this drive unit has the outside robot drives parts of a drive output with respect to mechanism hand central shaft moving linearly; And being provided with that an end and this outside manipulator driving device output terminal are rotatable to link to each other, the other end and mechanical paw end turn the outside mechanical paw drive link that links to each other.

6, attaching/detaching apparatus according to claim 2 is characterized in that: the pawl end of the paw that above-mentioned outside mechanism hand has is provided with the auxiliary roller that can freely swing.

7, attaching/detaching apparatus according to claim 1, it is characterized in that: described plug movable part has a framework and a mechanism hand assembly, above-mentioned shifter remains on this framework, so that move at last circular guide rail along the gas turbine circumferencial direction; Described mechanism hand assembly inserts in the framework upper edge and the direction of the burner of choosing moves; Described mechanism hand assembly is connected with described mechanism hand, so that can shake on two independent, direction under the effect of a linkage mechanism, each described linkage mechanism has three above connecting rods at least.

8, attaching/detaching apparatus according to claim 7, it is characterized in that: assembly in the middle of between above-mentioned mechanism hand assembly and mechanism hand, being provided with, the described linkage mechanism that is at least has the 1st and the 2nd linkage mechanism, described mechanism hand assembly is connected with middle assembly by the 1st linkage mechanism, and above-mentioned mechanism hand is connected with middle assembly by the 2nd linkage mechanism.

9, attaching/detaching apparatus according to claim 8 is characterized in that: also comprise the above-mentioned the 1st and the 2nd linkage mechanism is applied the restoring mechanism that restoring force makes it to reset to an one special position.

10, attaching/detaching apparatus according to claim 9 is characterized in that: above-mentioned restoring mechanism has the home position controlling mechanism of the home position of regulating the 1st and the 2nd linkage mechanism.

11. attaching/detaching apparatus according to claim 8, it is characterized in that: also comprise making the swing of the above-mentioned the 1st and the 2nd linkage mechanism become the predetermined mode state, and when it reaches predetermined mode, apply the swing arrestment mechanism of braking force to linkage mechanism until linkage mechanism.

12, attaching/detaching apparatus according to claim 8 is characterized in that:

Described the 2nd linkage mechanism comprises the connecting rod of a plurality of trapezoidal shapes, the length of connecting rod and the Support Position thereof of at least 3 connecting rods are adjustable, and can insert between installation position, termination and the center of gravity, adjust the position of above-mentioned connecting rod reference point by the combustor component of above-mentioned mechanism hand clamping.

13, attaching/detaching apparatus according to claim 12, it is characterized in that: have the axle position regulating mechanism that to adjust the position of link end axle in above-mentioned the 2nd linkage mechanism at least, and have the reference point location moving member of adjusting the reference point location of at least 3 connecting rods in the aforementioned link mechanism between installation position, termination and the combustor component center of gravity inserting.

14, attaching/detaching apparatus according to claim 7 is characterized in that: described at least 3 connecting rods be arranged in parallel.

15, attaching/detaching apparatus according to claim 14 is characterized in that: two connecting rods in described three above connecting rods are one group, the coaxial connection of interlinking lever end in this group.

16, attaching/detaching apparatus according to claim 14 is characterized in that: be provided with in restoring mechanism and confirm that linkage mechanism resets into the location confirmation sensor of special position.

17, attaching/detaching apparatus is taken turns in combustion gas according to claim 16, it is characterized in that, be provided with equilibrant and compare regulating mechanism, and have according to the above-mentioned equilibrant of the information-driven of above-mentioned location confirmation sensor than regulating mechanism, make at least one aforementioned link mechanism reset into the automatic restoring mechanism of special position.

18, attaching/detaching apparatus according to claim 7 is characterized in that: from above-mentioned mechanism hand direction, the connecting rod of aforementioned link mechanism roughly point to combustor component termination reference point towards on be the trapezoidal shape setting substantially.

19, attaching/detaching apparatus according to claim 7 is characterized in that: be provided with the guide mechanism that can replace aforementioned link mechanism, mechanism hand is moved with respect to the mechanism hand assembly along spherical shape track work.

20, attaching/detaching apparatus according to claim 19 is characterized in that: above-mentioned guide mechanism is set to see that by above-mentioned mechanism hand direction radius of curvature is centered close between insertion termination assembly department and the combustor component center of gravity and the curve orientation mechanism that can independently lead on both direction.

21, attaching/detaching apparatus according to claim 7 is characterized in that:

Be provided with balanced controls at least one linkage mechanism, at least one position of the mechanism hand of close at least one linkage mechanism is provided with point of action on the above-mentioned middle assembly of these balanced controls; Near at least one above-mentioned mechanism hand assembly of the framework of at least one aforementioned link mechanism or above-mentioned in the middle of certain position of assembly be provided with fulcrum; The opposite side of this fulcrum be provided with as with the counterweight of the balanced controls in the force of point of action balanced, use is also used as at least one balanced connecting rod of one and another balanced connecting rod at least 3 linkage mechanisms, as above-mentioned 3 weight bean, support above-mentioned balanced connecting rod, balanced connecting rod is independently being swung on the both direction at point of action and fulcrum.

22, attaching/detaching apparatus according to claim 21 is characterized in that:

In above-mentioned balanced controls, be provided with the equilibrant that changes the equilibrant ratio by the position that changes at least one force, above-mentioned point of action, fulcrum and compare regulating mechanism.

23, attaching/detaching apparatus according to claim 21, it is characterized in that: also comprise a balanced connecting rod that is provided with separately, above-mentioned balanced connecting rod is provided with error absorbing mechanism, when at least one linkage mechanism moves, if when this balanced connecting rod is gone up redundancy how much for above-mentioned at least one linkage mechanism, can be absorbed in gemoetric error on the connecting rod direction.

24, attaching/detaching apparatus according to claim 1, it is characterized in that: on circular guide rail periphery and interior all sides, disposed chain along circular guide rail circumferencial direction as framework mobile guide parts, these chain both sides are provided with a plurality of outstanding long-chain joints at regular intervals along its length direction, and the outstanding end of the pin of each described long-chain joint is fixed on the above-mentioned circular guide rail by fixed block.

25, attaching/detaching apparatus according to claim 24 is characterized in that: the framework that moves along circular guide rail has a plurality of sprocket wheels that cooperate with chain and rotate synchronously.

26, attaching/detaching apparatus according to claim 7, it is characterized in that: said frame fixedly is fixed on the guide runner that is led by above-mentioned circular guide rail by a plurality of fastening pieces, above-mentioned fastening piece is an elastic element, by being equal to or greater than the opposite force effect of the contrary pre-sizing of fastening direction, allow moving in contrary fastening direction.

27, attaching/detaching apparatus according to claim 1 is characterized in that: circular guide rail is arranged on the gas turbine periphery always, so that be supported on other parts of installing around the gas turbine.

28, attaching/detaching apparatus according to claim 1 is characterized in that: also comprise moving member, this moving member can move on to each position of gas turbine outer circumferential face along circular guide rail, and the holding member that can keep gas turbine component is installed on it.

29, attaching/detaching apparatus according to claim 1 is characterized in that: comprise that also can be transmitted the holding device that combustor component makes its turnover mechanism hand; With a positioning element, can stop the said burner part holding device and be located determining on the position, determine the transmission of the combustor component of the enterprising above-mentioned mechanism hand of advancing out in position, position usually at this.

30, attaching/detaching apparatus according to claim 7, it is characterized in that: outer Monday of gas turbine body housing side adopted flange as circular guide rail, this flange is carrying framework as guide rail, its side has along the circumferential direction formed many and guiding boss gas turbine body housing parallel axes at certain intervals simultaneously, device for revolving and driving with the gear that is meshed with above-mentioned each guide protrusions has been installed on said frame, thus, said frame can move around the gas turbine body housing.

31, attaching/detaching apparatus according to claim 1, it is characterized in that: circular guide rail interconnects and is arranged on around the gas turbine body housing by a plurality of circular-arc track segments that separate and have certain intervals on radial direction, interior Monday of above-mentioned track segment side direction the central direction projection and be provided with a plurality of load-bearing bolts, outer circumferential face upper edge at above-mentioned gas turbine body housing has circumferentially overlapped a plurality of substrates at certain intervals, by the assembly that cooperates with above-mentioned load-bearing bolt, aforesaid substrate is connected on the outer circumferential face of above-mentioned gas turbine body housing by above-mentioned track segment one side pressure respectively, and above-mentioned circular guide rail is fixed.

32, attaching/detaching apparatus according to claim 7, it is characterized in that: on circular guide rail, be provided with the range of movement limiting part that forms by projection or groove, on the framework that moves on the above-mentioned circular guide rail, installed and passed in and out described range of movement limiting part and mobile movable type mechanical stopper.

33, attaching/detaching apparatus according to claim 32 is characterized in that: be provided with on above-mentioned movable type mechanical stopper and can detect this mechanical stops in advance whether near the portable hard limit switch of an end of limiting part.

34, attaching/detaching apparatus according to claim 1 is characterized in that having: obtain the distribution pipe arrangement base part that power or signal are used from the outside of frame movement scope; And at the cable pulling bolt (cable hitch) of the intermediate portion of this distribution pipe arrangement base part of gas turbine circumferential position upper support.

35, attaching/detaching apparatus according to claim 34 is characterized in that: the control gear that has set the controlled motion parts on the floor beyond the range of movement.

36, attaching/detaching apparatus according to claim 34, it is characterized in that: distribution tubing parts have than the sufficiently long length of cable pulling bolt, make that the cable pulling bolt can circumvolution on gas turbine, and be provided with the affirmation switch of confirming operator's quantity at above-mentioned distribution pipe arrangement tip part middle part.

37, attaching/detaching apparatus according to claim 1, it is characterized in that: on circular guide rail, be provided with the range of movement limiting part that forms by groove, on the framework that moves on the above-mentioned circular guide rail, installed and passed in and out described range of movement limiting part and mobile movable type mechanical stopper.

38, attaching/detaching apparatus according to claim 2, it is characterized in that: described outside mechanism hand has mechanical paw, it is provided with a drive unit, and this drive unit has drive output is done rotation motion with respect to the mechanism hand central shaft outside robot drives parts; And being provided with that an end and this outside manipulator driving device output terminal are rotatable to link to each other, the other end and mechanical paw end turn the outside mechanical paw drive link that links to each other.

39, a kind of gas turbine burner attaching/detaching apparatus has:

Gas turbine burner parts clamping manipulator;

The plug movable part that supports above-mentioned mechanism hand and can move with respect to the burner central axes; With

Above-mentioned plug movable part remained on the holding member in the housing that constitutes gas turbine outside parts; Wherein,

Described plug movable part has a framework, and above-mentioned holding device remains on this framework; A mechanism hand assembly, described mechanism hand assembly insert in the framework upper edge and the direction of the burner of choosing moves; At least one linkage mechanism is connected with described mechanism hand simultaneously with described mechanism hand assembly, so that above-mentioned at least one linkage mechanism can freely be shaken on two independent, direction, above-mentioned at least one linkage mechanism has three above connecting rods at least.

40, according to the described attaching/detaching apparatus of claim 39, it is characterized in that:

Be provided with balanced controls at least one linkage mechanism, these balanced controls are provided with point of action near the mechanism hand of at least one linkage mechanism and at least one position of above-mentioned mechanism hand on above-mentioned middle assembly; Near the above-mentioned at least mechanism hand assembly of the framework of at least one linkage mechanism or above-mentioned in the middle of certain position of assembly be provided with fulcrum; The opposite side of this fulcrum be provided with as with the counterweight of the balanced controls in the force of point of action balanced, wherein at least one counterweight uses at least one balanced connecting rod of one and another balanced connecting rod that is also used as at least 3 linkage mechanisms, as above-mentioned 3 weight bean, support above-mentioned balanced connecting rod, balanced connecting rod is freely independently being swung on the both direction at point of action and fulcrum.

41, according to the described attaching/detaching apparatus of claim 40, it is characterized in that:

In above-mentioned balanced controls, be provided with the equilibrant that changes the equilibrant ratio by the position that changes at least one force, above-mentioned point of action, fulcrum and compare regulating mechanism.

42, attaching/detaching apparatus according to claim 21, it is characterized in that: also comprise a balanced connecting rod that is provided with separately, above-mentioned balanced connecting rod is provided with error absorbing mechanism, when at least one linkage mechanism moves, if this balanced connecting rod is gone up for how much when redundant for above-mentioned at least one linkage mechanism, in the time of can absorbing above-mentioned at least one connecting rod mechanism movement on the connecting rod direction gemoetric error.

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